Submission ID: ff921469
Lloyd-2K
Processed: 21-06-11. Download link: ff921469e816ca5d-lloyd-2k.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: Lloyd (contact)
- Keypoint: disk
- Descriptor: disk (128 float32: 512 bytes)
- Number of features: 2048
- Summary: Lloyd-2K
- Paper: N/A
- Website: N/A
- Processing date: 21-06-11
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.30565 (±0.00000 over 1 run(s) / ±0.10945 over 9 scenes)
Rank (per category): 77 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2048.0 | — | 703.5 | 0.605 Rank: 6/87 |
0.949 Rank: 7/87 |
0.11164 (±0.00000) Rank: 72/87 |
0.21481 (±0.00000) Rank: 71/87 |
FCS | 2048.0 | — | 311.1 | 0.407 Rank: 34/87 |
0.797 Rank: 72/87 |
0.25251 (±0.00000) Rank: 82/87 |
0.34230 (±0.00000) Rank: 82/87 |
LMS | 2048.0 | — | 276.5 | 0.380 Rank: 60/87 |
0.636 Rank: 73/87 |
0.30647 (±0.00000) Rank: 80/87 |
0.39251 (±0.00000) Rank: 80/87 |
LB | 2045.5 | — | 415.7 | 0.448 Rank: 11/87 |
0.724 Rank: 19/87 |
0.22582 (±0.00000) Rank: 72/87 |
0.32091 (±0.00000) Rank: 78/87 |
MC | 2048.0 | — | 581.4 | 0.543 Rank: 3/87 |
0.917 Rank: 19/87 |
0.22238 (±0.00000) Rank: 72/87 |
0.34366 (±0.00000) Rank: 72/87 |
MR | 2048.0 | — | 319.7 | 0.435 Rank: 18/87 |
0.797 Rank: 78/87 |
0.18155 (±0.00000) Rank: 74/87 |
0.25833 (±0.00000) Rank: 75/87 |
PSM | 2048.0 | — | 148.4 | 0.370 Rank: 13/87 |
0.501 Rank: 67/87 |
0.04145 (±0.00000) Rank: 83/87 |
0.08171 (±0.00000) Rank: 84/87 |
SF | 2046.8 | — | 245.6 | 0.372 Rank: 41/87 |
0.653 Rank: 81/87 |
0.21765 (±0.00000) Rank: 81/87 |
0.29971 (±0.00000) Rank: 81/87 |
SPC | 2041.0 | — | 573.7 | 0.467 Rank: 6/87 |
0.839 Rank: 14/87 |
0.34023 (±0.00000) Rank: 58/87 |
0.49686 (±0.00000) Rank: 57/87 |
Avg | 2046.8 | — | 397.3 | 0.448 Rank: 9/87 |
0.757 Rank: 68/87 |
0.21108 (±0.00000) Rank: 76/87 |
0.30565 (±0.00000) Rank: 77/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12307 over 9 scenes)
Rank (per category): 64 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2048.0 | 701.85 | 100.00 Rank: 1/87 |
2028.44 Rank: 34/87 |
7.157 Rank: 4/87 |
0.53447 Rank: 60/87 |
0.41784 (±0.00000) Rank: 63/87 |
0.57988 (±0.00000) Rank: 60/87 |
FCS | 2048.0 | 329.28 | 96.47 Rank: 65/87 |
2105.86 Rank: 54/87 |
5.234 Rank: 7/87 |
0.29043 Rank: 69/87 |
0.65413 (±0.00000) Rank: 70/87 |
0.72900 (±0.00000) Rank: 69/87 |
LMS | 2048.0 | 305.68 | 98.23 Rank: 72/87 |
1559.77 Rank: 48/87 |
5.770 Rank: 26/87 |
0.39895 Rank: 78/87 |
0.68256 (±0.00000) Rank: 76/87 |
0.76464 (±0.00000) Rank: 76/87 |
LB | 2045.5 | 502.44 | 97.44 Rank: 65/87 |
1812.43 Rank: 47/87 |
6.191 Rank: 2/87 |
0.48738 Rank: 38/87 |
0.67170 (±0.00000) Rank: 52/87 |
0.77076 (±0.00000) Rank: 53/87 |
MC | 2048.0 | 569.48 | 98.61 Rank: 66/87 |
2229.23 Rank: 29/87 |
6.465 Rank: 1/87 |
0.37679 Rank: 48/87 |
0.49886 (±0.00000) Rank: 58/87 |
0.64775 (±0.00000) Rank: 58/87 |
MR | 2048.0 | 319.34 | 92.29 Rank: 64/87 |
2143.41 Rank: 39/87 |
4.911 Rank: 21/87 |
0.50871 Rank: 27/87 |
0.38688 (±0.00000) Rank: 49/87 |
0.49463 (±0.00000) Rank: 53/87 |
PSM | 2048.0 | 149.58 | 85.39 Rank: 69/87 |
1823.44 Rank: 60/87 |
4.094 Rank: 52/87 |
0.65897 Rank: 67/87 |
0.36117 (±0.00000) Rank: 66/87 |
0.42522 (±0.00000) Rank: 67/87 |
SF | 2046.8 | 239.37 | 91.80 Rank: 79/87 |
1967.38 Rank: 58/87 |
4.924 Rank: 37/87 |
0.37835 Rank: 76/87 |
0.58421 (±0.00000) Rank: 78/87 |
0.67243 (±0.00000) Rank: 78/87 |
SPC | 2041.0 | 592.43 | 98.48 Rank: 64/87 |
2358.82 Rank: 26/87 |
6.067 Rank: 1/87 |
0.44338 Rank: 36/87 |
0.69975 (±0.00000) Rank: 51/87 |
0.79965 (±0.00000) Rank: 53/87 |
Avg | 2046.8 | 412.16 | 95.41 Rank: 68/87 |
2003.20 Rank: 47/87 |
5.646 Rank: 4/87 |
0.45305 Rank: 63/87 |
0.55079 (±0.00000) Rank: 63/87 |
0.65377 (±0.00000) Rank: 64/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.20033 (±0.00000 over 1 run(s) / ±0.00491 over 3 scenes)
Rank (per category): 73 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | — | 101.5 | 0.045 Rank: 7/87 |
0.005 Rank: 68/87 |
0.14008 (±0.00000) Rank: 72/87 |
0.19861 (±0.00000) Rank: 72/87 |
Pond | 2048.0 | — | 113.6 | 0.075 Rank: 6/87 |
0.056 Rank: 11/87 |
0.15150 (±0.00000) Rank: 73/87 |
0.20701 (±0.00000) Rank: 73/87 |
Tree | 2048.0 | — | 64.8 | 0.049 Rank: 4/87 |
0.014 Rank: 72/87 |
0.14393 (±0.00000) Rank: 73/87 |
0.19536 (±0.00000) Rank: 73/87 |
Avg | 2048.0 | — | 93.3 | 0.056 Rank: 6/87 |
0.025 Rank: 68/87 |
0.14517 (±0.00000) Rank: 73/87 |
0.20033 (±0.00000) Rank: 73/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09429 over 3 scenes)
Rank (per category): 68 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 134.60 | 76.23 Rank: 68/87 |
475.08 Rank: 66/87 |
3.117 Rank: 65/87 |
12.14316 Rank: 3/87 |
0.32658 (±0.00000) Rank: 69/87 |
0.41549 (±0.00000) Rank: 69/87 |
Pond | 2048.0 | 226.03 | 66.94 Rank: 55/87 |
735.42 Rank: 59/87 |
2.990 Rank: 21/87 |
0.39413 Rank: 3/87 |
0.17818 (±0.00000) Rank: 69/87 |
0.22214 (±0.00000) Rank: 68/87 |
Tree | 2048.0 | 97.95 | 61.85 Rank: 69/87 |
285.23 Rank: 66/87 |
2.819 Rank: 64/87 |
4.58224 Rank: 1/87 |
0.18578 (±0.00000) Rank: 68/87 |
0.20942 (±0.00000) Rank: 68/87 |
Avg | 2048.0 | 152.86 | 68.34 Rank: 69/87 |
498.58 Rank: 65/87 |
2.976 Rank: 63/87 |
5.70651 Rank: 3/87 |
0.23018 (±0.00000) Rank: 68/87 |
0.28235 (±0.00000) Rank: 68/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.12177 (±0.00000 over 1 run(s) / ±0.07694 over 17 scenes)
Rank (per category): 51 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | — | 164.5 | 0.08661 (±0.00000) Rank: 50/87 |
0.15446 (±0.00000) Rank: 50/87 |
Bangkok (BGK) | 2048.0 | — | 189.0 | 0.01638 (±0.00000) Rank: 51/87 |
0.05558 (±0.00000) Rank: 52/87 |
Barcelona (BCN) | 2048.0 | — | 89.6 | 0.02857 (±0.00000) Rank: 51/87 |
0.05824 (±0.00000) Rank: 51/87 |
Buenos Aires (BAR) | 2048.0 | — | 131.4 | 0.09224 (±0.00000) Rank: 50/87 |
0.16210 (±0.00000) Rank: 50/87 |
Cambridge (CAM) | 2045.0 | — | 126.3 | 0.06712 (±0.00000) Rank: 50/87 |
0.13836 (±0.00000) Rank: 51/87 |
Cannes (CAN) | 2048.0 | — | 193.0 | 0.17512 (±0.00000) Rank: 50/87 |
0.28571 (±0.00000) Rank: 48/87 |
Chicago (CHI) | 2042.9 | — | 23.8 | 0.01680 (±0.00000) Rank: 52/87 |
0.04180 (±0.00000) Rank: 52/87 |
Helsinki (HEL) | 2048.0 | — | 282.6 | 0.17113 (±0.00000) Rank: 47/87 |
0.28789 (±0.00000) Rank: 47/87 |
Madrid (MAD) | 2048.0 | — | 63.7 | 0.01155 (±0.00000) Rank: 51/87 |
0.02675 (±0.00000) Rank: 52/87 |
Mountain View (MTV) | 2048.0 | — | 81.5 | 0.02500 (±0.00000) Rank: 52/87 |
0.05566 (±0.00000) Rank: 52/87 |
New Orleans (NOR) | 2048.0 | — | 76.0 | 0.08284 (±0.00000) Rank: 50/87 |
0.10917 (±0.00000) Rank: 51/87 |
San Francisco (SF) | 2048.0 | — | 113.4 | 0.04829 (±0.00000) Rank: 50/87 |
0.09843 (±0.00000) Rank: 51/87 |
Singapore (SG) | 2042.4 | — | 121.3 | 0.06013 (±0.00000) Rank: 52/87 |
0.09937 (±0.00000) Rank: 52/87 |
Sydney (SYD) | 2048.0 | — | 81.2 | 0.04716 (±0.00000) Rank: 52/87 |
0.09301 (±0.00000) Rank: 51/87 |
Tokyo (TOK) | 2048.0 | — | 103.4 | 0.12696 (±0.00000) Rank: 51/87 |
0.20074 (±0.00000) Rank: 51/87 |
Toronto (TOR) | 2048.0 | — | 38.6 | 0.01840 (±0.00000) Rank: 52/87 |
0.04720 (±0.00000) Rank: 52/87 |
Zurich (ZRH) | 2048.0 | — | 129.2 | 0.09759 (±0.00000) Rank: 50/87 |
0.15567 (±0.00000) Rank: 50/87 |
Average (Avg) | 2047.2 | — | 118.2 | 0.06894 (±0.00000) Rank: 51/87 |
0.12177 (±0.00000) Rank: 51/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.07050 over 17 scenes)
Rank (per category): 50 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 91.00 | 66.57 Rank: 48/87 |
740.28 Rank: 45/87 |
3.466 Rank: 46/87 |
18.26778 Rank: 5/87 |
0.14055 (±0.00000) Rank: 47/87 |
0.19090 (±0.00000) Rank: 48/87 |
BGK | 2048.0 | 115.24 | 83.68 Rank: 51/87 |
1134.24 Rank: 46/87 |
3.966 Rank: 1/87 |
8.08039 Rank: 1/87 |
0.00614 (±0.00000) Rank: 52/87 |
0.02571 (±0.00000) Rank: 52/87 |
BCN | 2048.0 | 48.21 | 59.22 Rank: 52/87 |
402.88 Rank: 51/87 |
3.266 Rank: 47/87 |
21.92580 Rank: 5/87 |
0.04235 (±0.00000) Rank: 51/87 |
0.07656 (±0.00000) Rank: 51/87 |
BAR | 2048.0 | 66.14 | 49.74 Rank: 50/87 |
356.28 Rank: 48/87 |
2.874 Rank: 48/87 |
6.48240 Rank: 3/87 |
0.00845 (±0.00000) Rank: 50/87 |
0.02507 (±0.00000) Rank: 50/87 |
CAM | 2045.0 | 67.66 | 61.85 Rank: 50/87 |
529.58 Rank: 49/87 |
3.537 Rank: 21/87 |
13.81521 Rank: 3/87 |
0.04441 (±0.00000) Rank: 50/87 |
0.07308 (±0.00000) Rank: 50/87 |
CAN | 2048.0 | 99.44 | 53.62 Rank: 49/87 |
399.33 Rank: 41/87 |
3.096 Rank: 48/87 |
9.70730 Rank: 6/87 |
0.01186 (±0.00000) Rank: 50/87 |
0.03254 (±0.00000) Rank: 50/87 |
CHI | 2042.9 | 17.96 | 41.29 Rank: 51/87 |
137.79 Rank: 51/87 |
2.999 Rank: 51/87 |
35.83320 Rank: 3/87 |
0.00096 (±0.00000) Rank: 52/87 |
0.00500 (±0.00000) Rank: 50/87 |
HEL | 2048.0 | 195.15 | 77.37 Rank: 51/87 |
1493.66 Rank: 41/87 |
3.896 Rank: 41/87 |
10.15191 Rank: 4/87 |
0.13482 (±0.00000) Rank: 48/87 |
0.22419 (±0.00000) Rank: 48/87 |
MAD | 2048.0 | 35.17 | 61.19 Rank: 50/87 |
423.82 Rank: 50/87 |
3.258 Rank: 35/87 |
3.09565 Rank: 4/87 |
0.00633 (±0.00000) Rank: 50/87 |
0.02237 (±0.00000) Rank: 50/87 |
MTV | 2048.0 | 56.99 | 66.29 Rank: 51/87 |
621.74 Rank: 45/87 |
3.397 Rank: 48/87 |
9.97955 Rank: 3/87 |
0.04687 (±0.00000) Rank: 51/87 |
0.10574 (±0.00000) Rank: 51/87 |
NOR | 2048.0 | 47.95 | 46.96 Rank: 50/87 |
353.51 Rank: 46/87 |
3.048 Rank: 45/87 |
6.10149 Rank: 4/87 |
0.02823 (±0.00000) Rank: 50/87 |
0.04518 (±0.00000) Rank: 50/87 |
SF | 2048.0 | 64.28 | 56.03 Rank: 50/87 |
492.75 Rank: 49/87 |
3.139 Rank: 49/87 |
6.43814 Rank: 3/87 |
0.02344 (±0.00000) Rank: 50/87 |
0.04638 (±0.00000) Rank: 50/87 |
SG | 2042.4 | 69.74 | 46.10 Rank: 52/87 |
442.53 Rank: 49/87 |
3.019 Rank: 49/87 |
5.33085 Rank: 1/87 |
0.01398 (±0.00000) Rank: 51/87 |
0.02588 (±0.00000) Rank: 51/87 |
SYD | 2048.0 | 41.91 | 54.64 Rank: 51/87 |
307.42 Rank: 50/87 |
2.943 Rank: 48/87 |
5.85940 Rank: 1/87 |
0.02839 (±0.00000) Rank: 52/87 |
0.05213 (±0.00000) Rank: 52/87 |
TOK | 2048.0 | 61.36 | 62.04 Rank: 51/87 |
601.24 Rank: 50/87 |
3.484 Rank: 46/87 |
6.20255 Rank: 3/87 |
0.17470 (±0.00000) Rank: 51/87 |
0.22363 (±0.00000) Rank: 51/87 |
TOR | 2048.0 | 19.30 | 43.54 Rank: 52/87 |
228.44 Rank: 50/87 |
2.682 Rank: 52/87 |
7.46034 Rank: 3/87 |
0.00744 (±0.00000) Rank: 51/87 |
0.01592 (±0.00000) Rank: 50/87 |
ZRH | 2048.0 | 68.09 | 52.30 Rank: 51/87 |
430.87 Rank: 51/87 |
3.284 Rank: 41/87 |
8.32309 Rank: 3/87 |
0.00546 (±0.00000) Rank: 51/87 |
0.01581 (±0.00000) Rank: 51/87 |
Avg | 2047.2 | 68.56 | 57.79 Rank: 50/87 |
535.08 Rank: 49/87 |
3.256 Rank: 47/87 |
10.76794 Rank: 3/87 |
0.04261 (±0.00000) Rank: 50/87 |
0.07095 (±0.00000) Rank: 50/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ff921469e816ca5d-lloyd-2k/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)