Submission ID: muaeyysj
Example: Upright SIFT (OpenCV), 8k, lowered detection threshold
Processed: 2021-05-13. Download link: muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac.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: (contact)
- Keypoint: sift-lowth
- Descriptor: rootsift-upright (128 float32: 512 bytes)
- Number of features: 8000
- Summary: SIFT with 8000 features, using the built-in matcher (bidirectional filter with the both strategy, optimal inlier and ratio test thresholds) with DEGENSAC, and setting keypoint orientation to a constant value to increase performance. The detection threshold is lowered in order to extract as many features as possible.
- Paper: N/A
- Website: https://opencv.org
- Processing date: 2021-05-13
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.51220 (±0.00000 over 1 run(s) / ±0.13704 over 9 scenes)
Rank (per category): 30 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 7956.0 | 502.8 | 338.7 | 0.521 Rank: 41/51 |
0.960 Rank: 3/51 |
0.25114 (±0.00000) Rank: 22/51 |
0.37908 (±0.00000) Rank: 23/51 |
FCS | 7838.2 | 571.8 | 409.6 | 0.465 Rank: 31/51 |
0.898 Rank: 20/51 |
0.58135 (±0.00000) Rank: 30/51 |
0.69445 (±0.00000) Rank: 31/51 |
LMS | 7720.4 | 414.6 | 231.3 | 0.467 Rank: 27/51 |
0.697 Rank: 15/51 |
0.53646 (±0.00000) Rank: 26/51 |
0.65036 (±0.00000) Rank: 27/51 |
LB | 7937.6 | 414.6 | 260.9 | 0.492 Rank: 33/51 |
0.765 Rank: 15/51 |
0.46594 (±0.00000) Rank: 22/51 |
0.56240 (±0.00000) Rank: 27/51 |
MC | 7779.7 | 639.6 | 459.2 | 0.549 Rank: 40/51 |
0.971 Rank: 2/51 |
0.40118 (±0.00000) Rank: 22/51 |
0.55197 (±0.00000) Rank: 22/51 |
MR | 7756.6 | 733.1 | 557.4 | 0.479 Rank: 40/51 |
0.982 Rank: 1/51 |
0.34099 (±0.00000) Rank: 8/51 |
0.45150 (±0.00000) Rank: 12/51 |
PSM | 7768.5 | 300.5 | 196.8 | 0.407 Rank: 38/51 |
0.673 Rank: 18/51 |
0.12574 (±0.00000) Rank: 35/51 |
0.22070 (±0.00000) Rank: 36/51 |
SF | 7860.0 | 775.6 | 544.3 | 0.498 Rank: 28/51 |
0.846 Rank: 19/51 |
0.46754 (±0.00000) Rank: 32/51 |
0.59101 (±0.00000) Rank: 33/51 |
SPC | 7849.4 | 399.9 | 246.4 | 0.501 Rank: 36/51 |
0.818 Rank: 31/51 |
0.37877 (±0.00000) Rank: 35/51 |
0.50828 (±0.00000) Rank: 39/51 |
Avg | 7829.6 | 528.0 | 360.5 | 0.486 Rank: 35/51 |
0.846 Rank: 10/51 |
0.39434 (±0.00000) Rank: 28/51 |
0.51220 (±0.00000) Rank: 30/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12922 over 9 scenes)
Rank (per category): 34 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 7956.0 | 500.34 | 99.61 Rank: 37/51 |
3280.21 Rank: 29/51 |
4.782 Rank: 34/51 |
0.47213 Rank: 28/51 |
0.46118 (±0.00000) Rank: 30/51 |
0.60299 (±0.00000) Rank: 31/51 |
FCS | 7838.2 | 606.40 | 96.61 Rank: 35/51 |
4951.52 Rank: 27/51 |
4.480 Rank: 31/51 |
0.23818 Rank: 21/51 |
0.69352 (±0.00000) Rank: 32/51 |
0.76857 (±0.00000) Rank: 30/51 |
LMS | 7720.4 | 455.90 | 99.21 Rank: 21/51 |
3587.61 Rank: 23/51 |
4.441 Rank: 31/51 |
0.34731 Rank: 37/51 |
0.82748 (±0.00000) Rank: 19/51 |
0.88386 (±0.00000) Rank: 18/51 |
LB | 7937.6 | 504.52 | 98.09 Rank: 21/51 |
3558.90 Rank: 27/51 |
4.565 Rank: 31/51 |
0.46649 Rank: 10/51 |
0.63295 (±0.00000) Rank: 37/51 |
0.72775 (±0.00000) Rank: 38/51 |
MC | 7779.7 | 632.24 | 99.77 Rank: 31/51 |
4662.79 Rank: 24/51 |
4.702 Rank: 32/51 |
0.37942 Rank: 33/51 |
0.51484 (±0.00000) Rank: 35/51 |
0.65915 (±0.00000) Rank: 35/51 |
MR | 7756.6 | 738.69 | 93.60 Rank: 35/51 |
5674.43 Rank: 21/51 |
4.310 Rank: 35/51 |
0.48466 Rank: 18/51 |
0.46967 (±0.00000) Rank: 15/51 |
0.58293 (±0.00000) Rank: 16/51 |
PSM | 7768.5 | 296.97 | 90.73 Rank: 35/51 |
3673.27 Rank: 31/51 |
3.296 Rank: 34/51 |
0.61588 Rank: 36/51 |
0.32856 (±0.00000) Rank: 39/51 |
0.41880 (±0.00000) Rank: 36/51 |
SF | 7860.0 | 770.96 | 96.77 Rank: 30/51 |
6545.94 Rank: 20/51 |
4.471 Rank: 33/51 |
0.32631 Rank: 32/51 |
0.70903 (±0.00000) Rank: 30/51 |
0.79097 (±0.00000) Rank: 30/51 |
SPC | 7849.4 | 411.29 | 96.17 Rank: 40/51 |
3854.36 Rank: 34/51 |
4.201 Rank: 35/51 |
0.53502 Rank: 37/51 |
0.63224 (±0.00000) Rank: 37/51 |
0.72987 (±0.00000) Rank: 34/51 |
Avg | 7829.6 | 546.37 | 96.73 Rank: 34/51 |
4421.00 Rank: 27/51 |
4.361 Rank: 32/51 |
0.42949 Rank: 32/51 |
0.58550 (±0.00000) Rank: 34/51 |
0.68499 (±0.00000) Rank: 34/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.53697 (±0.00000 over 1 run(s) / ±0.05037 over 3 scenes)
Rank (per category): 30 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | 575.7 | 460.0 | 0.145 Rank: 4/51 |
0.008 Rank: 35/51 |
0.38585 (±0.00000) Rank: 26/51 |
0.48710 (±0.00000) Rank: 27/51 |
Pond | 8000.0 | 742.7 | 544.4 | 0.172 Rank: 1/51 |
0.056 Rank: 8/51 |
0.40561 (±0.00000) Rank: 30/51 |
0.51784 (±0.00000) Rank: 31/51 |
Tree | 8000.0 | 478.2 | 315.7 | 0.126 Rank: 17/51 |
0.019 Rank: 31/51 |
0.52583 (±0.00000) Rank: 25/51 |
0.60596 (±0.00000) Rank: 28/51 |
Avg | 8000.0 | 598.9 | 440.0 | 0.148 Rank: 10/51 |
0.028 Rank: 22/51 |
0.43910 (±0.00000) Rank: 28/51 |
0.53697 (±0.00000) Rank: 30/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14355 over 3 scenes)
Rank (per category): 12 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 459.14 | 81.57 Rank: 33/51 |
1328.26 Rank: 29/51 |
3.209 Rank: 27/51 |
13.34833 Rank: 5/51 |
0.56342 (±0.00000) Rank: 16/51 |
0.62924 (±0.00000) Rank: 20/51 |
Pond | 8000.0 | 790.23 | 67.23 Rank: 33/51 |
1555.69 Rank: 30/51 |
2.917 Rank: 21/51 |
0.40396 Rank: 4/51 |
0.24471 (±0.00000) Rank: 32/51 |
0.28676 (±0.00000) Rank: 25/51 |
Tree | 8000.0 | 446.88 | 73.06 Rank: 9/51 |
1016.82 Rank: 24/51 |
2.968 Rank: 19/51 |
5.81376 Rank: 12/51 |
0.47996 (±0.00000) Rank: 4/51 |
0.52694 (±0.00000) Rank: 2/51 |
Avg | 8000.0 | 565.42 | 73.95 Rank: 31/51 |
1300.26 Rank: 29/51 |
3.031 Rank: 25/51 |
6.52202 Rank: 6/51 |
0.42936 (±0.00000) Rank: 12/51 |
0.48098 (±0.00000) Rank: 12/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.26931 (±0.00000 over 1 run(s) / ±0.11895 over 17 scenes)
Rank (per category): 22 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 5064.6 | 298.9 | 161.6 | 0.14107 (±0.00000) Rank: 25/51 |
0.26473 (±0.00000) Rank: 25/51 |
Bangkok (BGK) | 5221.0 | 258.6 | 120.8 | 0.05906 (±0.00000) Rank: 18/51 |
0.14442 (±0.00000) Rank: 21/51 |
Barcelona (BCN) | 4545.4 | 235.6 | 118.9 | 0.11062 (±0.00000) Rank: 19/51 |
0.17766 (±0.00000) Rank: 20/51 |
Buenos Aires (BAR) | 5431.6 | 324.7 | 166.8 | 0.15342 (±0.00000) Rank: 25/51 |
0.27397 (±0.00000) Rank: 23/51 |
Cambridge (CAM) | 5002.4 | 236.2 | 94.0 | 0.18562 (±0.00000) Rank: 25/51 |
0.29384 (±0.00000) Rank: 25/51 |
Cannes (CAN) | 4810.6 | 299.2 | 140.0 | 0.31982 (±0.00000) Rank: 21/51 |
0.40645 (±0.00000) Rank: 21/51 |
Chicago (CHI) | 4589.0 | 153.4 | 41.8 | 0.05260 (±0.00000) Rank: 23/51 |
0.09843 (±0.00000) Rank: 24/51 |
Helsinki (HEL) | 5608.3 | 398.2 | 210.2 | 0.32423 (±0.00000) Rank: 21/51 |
0.51701 (±0.00000) Rank: 21/51 |
Madrid (MAD) | 6004.1 | 256.5 | 100.7 | 0.05106 (±0.00000) Rank: 22/51 |
0.12523 (±0.00000) Rank: 22/51 |
Mountain View (MTV) | 5148.7 | 202.2 | 75.9 | 0.12773 (±0.00000) Rank: 21/51 |
0.21855 (±0.00000) Rank: 21/51 |
New Orleans (NOR) | 5063.9 | 241.0 | 99.7 | 0.18047 (±0.00000) Rank: 23/51 |
0.23314 (±0.00000) Rank: 24/51 |
San Francisco (SF) | 5023.4 | 247.9 | 122.7 | 0.06719 (±0.00000) Rank: 26/51 |
0.14961 (±0.00000) Rank: 28/51 |
Singapore (SG) | 6042.3 | 309.6 | 122.5 | 0.21456 (±0.00000) Rank: 20/51 |
0.32848 (±0.00000) Rank: 17/51 |
Sydney (SYD) | 5518.2 | 280.6 | 114.8 | 0.20087 (±0.00000) Rank: 25/51 |
0.32576 (±0.00000) Rank: 22/51 |
Tokyo (TOK) | 5494.4 | 337.1 | 135.0 | 0.38088 (±0.00000) Rank: 22/51 |
0.51348 (±0.00000) Rank: 23/51 |
Toronto (TOR) | 6037.9 | 238.0 | 72.1 | 0.12400 (±0.00000) Rank: 22/51 |
0.23400 (±0.00000) Rank: 22/51 |
Zurich (ZRH) | 4937.5 | 266.6 | 146.4 | 0.22405 (±0.00000) Rank: 20/51 |
0.27354 (±0.00000) Rank: 25/51 |
Average (Avg) | 5267.3 | 269.7 | 120.2 | 0.17160 (±0.00000) Rank: 22/51 |
0.26931 (±0.00000) Rank: 22/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.11110 over 17 scenes)
Rank (per category): 27 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 5064.6 | 123.58 | 59.69 Rank: 27/51 |
707.95 Rank: 27/51 |
2.878 Rank: 28/51 |
12.65665 Rank: 2/51 |
0.07286 (±0.00000) Rank: 27/51 |
0.11058 (±0.00000) Rank: 27/51 |
BGK | 5221.0 | 112.15 | 82.11 Rank: 27/51 |
897.39 Rank: 27/51 |
3.232 Rank: 25/51 |
10.12628 Rank: 2/51 |
0.01367 (±0.00000) Rank: 27/51 |
0.04274 (±0.00000) Rank: 27/51 |
BCN | 4545.4 | 98.28 | 69.31 Rank: 26/51 |
593.00 Rank: 26/51 |
3.114 Rank: 25/51 |
18.04571 Rank: 2/51 |
0.05838 (±0.00000) Rank: 27/51 |
0.09546 (±0.00000) Rank: 27/51 |
BAR | 5431.6 | 123.99 | 51.60 Rank: 27/51 |
326.10 Rank: 27/51 |
2.715 Rank: 26/51 |
5.75548 Rank: 2/51 |
0.00513 (±0.00000) Rank: 27/51 |
0.01482 (±0.00000) Rank: 27/51 |
CAM | 5002.4 | 87.98 | 55.36 Rank: 27/51 |
411.44 Rank: 27/51 |
2.710 Rank: 27/51 |
8.41854 Rank: 2/51 |
0.03913 (±0.00000) Rank: 27/51 |
0.06576 (±0.00000) Rank: 27/51 |
CAN | 4810.6 | 117.90 | 51.68 Rank: 25/51 |
390.93 Rank: 24/51 |
2.783 Rank: 23/51 |
10.39605 Rank: 8/51 |
0.01181 (±0.00000) Rank: 25/51 |
0.02450 (±0.00000) Rank: 26/51 |
CHI | 4589.0 | 69.28 | 54.00 Rank: 26/51 |
212.72 Rank: 24/51 |
2.895 Rank: 26/51 |
34.20100 Rank: 5/51 |
0.00355 (±0.00000) Rank: 26/51 |
0.01633 (±0.00000) Rank: 26/51 |
HEL | 5608.3 | 200.50 | 84.23 Rank: 25/51 |
1658.28 Rank: 26/51 |
3.050 Rank: 26/51 |
13.08747 Rank: 18/51 |
0.21896 (±0.00000) Rank: 24/51 |
0.35994 (±0.00000) Rank: 23/51 |
MAD | 6004.1 | 98.59 | 72.05 Rank: 26/51 |
706.35 Rank: 27/51 |
3.002 Rank: 24/51 |
3.19445 Rank: 1/51 |
0.02204 (±0.00000) Rank: 26/51 |
0.05590 (±0.00000) Rank: 26/51 |
MTV | 5148.7 | 86.83 | 57.79 Rank: 27/51 |
398.99 Rank: 27/51 |
2.785 Rank: 27/51 |
7.25418 Rank: 2/51 |
0.03428 (±0.00000) Rank: 27/51 |
0.06394 (±0.00000) Rank: 27/51 |
NOR | 5063.9 | 106.16 | 41.41 Rank: 27/51 |
248.23 Rank: 26/51 |
2.531 Rank: 27/51 |
3.02344 Rank: 1/51 |
0.00907 (±0.00000) Rank: 27/51 |
0.01623 (±0.00000) Rank: 27/51 |
SF | 5023.4 | 96.26 | 48.81 Rank: 27/51 |
383.28 Rank: 27/51 |
2.687 Rank: 25/51 |
5.14691 Rank: 2/51 |
0.00522 (±0.00000) Rank: 27/51 |
0.01497 (±0.00000) Rank: 27/51 |
SG | 6042.3 | 127.69 | 56.61 Rank: 25/51 |
504.38 Rank: 26/51 |
2.885 Rank: 23/51 |
10.81913 Rank: 5/51 |
0.04290 (±0.00000) Rank: 25/51 |
0.06849 (±0.00000) Rank: 25/51 |
SYD | 5518.2 | 109.46 | 60.80 Rank: 25/51 |
407.55 Rank: 26/51 |
2.864 Rank: 24/51 |
6.55770 Rank: 2/51 |
0.05547 (±0.00000) Rank: 27/51 |
0.09387 (±0.00000) Rank: 27/51 |
TOK | 5494.4 | 139.97 | 75.97 Rank: 24/51 |
1044.02 Rank: 26/51 |
3.122 Rank: 22/51 |
7.94783 Rank: 5/51 |
0.35097 (±0.00000) Rank: 22/51 |
0.40673 (±0.00000) Rank: 22/51 |
TOR | 6037.9 | 84.03 | 57.03 Rank: 26/51 |
309.35 Rank: 26/51 |
2.833 Rank: 25/51 |
9.81537 Rank: 3/51 |
0.01900 (±0.00000) Rank: 27/51 |
0.04270 (±0.00000) Rank: 27/51 |
ZRH | 4937.5 | 108.28 | 59.86 Rank: 26/51 |
662.36 Rank: 27/51 |
2.839 Rank: 25/51 |
10.16493 Rank: 3/51 |
0.01925 (±0.00000) Rank: 25/51 |
0.04115 (±0.00000) Rank: 26/51 |
Avg | 5267.3 | 111.23 | 61.08 Rank: 26/51 |
580.14 Rank: 27/51 |
2.878 Rank: 24/51 |
10.38889 Rank: 2/51 |
0.05775 (±0.00000) Rank: 27/51 |
0.09024 (±0.00000) Rank: 27/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/muaeyysjzgdjq9j7igpn9s-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)