Submission ID: 29f8cfce
LoFTR_v4
Processed: 21-06-15. Download link: 29f8cfce05f7db9c-loftr_v4.json
This page ranks the submission against all others using the same number of keypoints, regardless of descriptor size. Please hover over table headers for descriptions on metrics and full scene names.
- Phototourism dataset: Stereo track / Multiview track
- Prague Parks dataset: Stereo track / Multiview track
- Google Urban dataset: Stereo track / Multiview track
Metadata
- Authors: Jiaming Sun, Xingyi He, Zehong Shen, Yuang Wang (contact)
- Keypoint: free
- Descriptor: free (128 float32: 512 bytes)
- Number of features: 8000
- Summary: Detector-Free Local Feature Matching with Transformers
- Paper: N/A
- Website: N/A
- Processing date: 21-06-15
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.60907 (±0.00000 over 1 run(s) / ±0.14832 over 9 scenes)
Rank (per category): 10 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 7339.0 | — | 914.7 | 0.532 Rank: 31/51 |
0.905 Rank: 32/51 |
0.47369 (±0.00000) Rank: 6/51 |
0.62398 (±0.00000) Rank: 6/51 |
FCS | 7544.5 | — | 769.7 | 0.427 Rank: 43/51 |
0.884 Rank: 28/51 |
0.65185 (±0.00000) Rank: 15/51 |
0.77072 (±0.00000) Rank: 15/51 |
LMS | 6690.9 | — | 358.6 | 0.348 Rank: 47/51 |
0.673 Rank: 29/51 |
0.62043 (±0.00000) Rank: 2/51 |
0.73131 (±0.00000) Rank: 3/51 |
LB | 7210.4 | — | 808.7 | 0.672 Rank: 5/51 |
0.681 Rank: 40/51 |
0.53308 (±0.00000) Rank: 6/51 |
0.62529 (±0.00000) Rank: 14/51 |
MC | 7435.4 | — | 999.8 | 0.616 Rank: 26/51 |
0.869 Rank: 36/51 |
0.42464 (±0.00000) Rank: 6/51 |
0.57779 (±0.00000) Rank: 11/51 |
MR | 7202.1 | — | 812.0 | 0.486 Rank: 31/51 |
0.898 Rank: 35/51 |
0.29225 (±0.00000) Rank: 29/51 |
0.40548 (±0.00000) Rank: 29/51 |
PSM | 7401.1 | — | 549.6 | 0.417 Rank: 30/51 |
0.611 Rank: 39/51 |
0.19388 (±0.00000) Rank: 18/51 |
0.31214 (±0.00000) Rank: 21/51 |
SF | 6892.1 | — | 527.0 | 0.385 Rank: 44/51 |
0.815 Rank: 27/51 |
0.55630 (±0.00000) Rank: 9/51 |
0.68326 (±0.00000) Rank: 12/51 |
SPC | 7444.9 | — | 901.7 | 0.529 Rank: 26/51 |
0.800 Rank: 33/51 |
0.61279 (±0.00000) Rank: 3/51 |
0.75163 (±0.00000) Rank: 3/51 |
Avg | 7240.0 | — | 738.0 | 0.490 Rank: 30/51 |
0.793 Rank: 35/51 |
0.48432 (±0.00000) Rank: 9/51 |
0.60907 (±0.00000) Rank: 10/51 |
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/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10346 over 9 scenes)
Rank (per category): 9 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 7339.0 | 901.18 | 99.84 Rank: 18/51 |
8684.76 Rank: 2/51 |
4.867 Rank: 29/51 |
0.35016 Rank: 5/51 |
0.60395 (±0.00000) Rank: 3/51 |
0.73874 (±0.00000) Rank: 3/51 |
FCS | 7544.5 | 764.64 | 98.33 Rank: 16/51 |
8535.38 Rank: 10/51 |
4.483 Rank: 29/51 |
0.22433 Rank: 11/51 |
0.76350 (±0.00000) Rank: 14/51 |
0.82499 (±0.00000) Rank: 11/51 |
LMS | 6690.9 | 370.11 | 98.53 Rank: 34/51 |
4602.76 Rank: 18/51 |
3.977 Rank: 44/51 |
0.31641 Rank: 25/51 |
0.80518 (±0.00000) Rank: 24/51 |
0.85954 (±0.00000) Rank: 27/51 |
LB | 7210.4 | 929.86 | 97.89 Rank: 29/51 |
7233.55 Rank: 2/51 |
5.394 Rank: 11/51 |
0.47784 Rank: 17/51 |
0.70875 (±0.00000) Rank: 20/51 |
0.80077 (±0.00000) Rank: 20/51 |
MC | 7435.4 | 980.48 | 99.80 Rank: 29/51 |
8408.24 Rank: 3/51 |
5.271 Rank: 25/51 |
0.29959 Rank: 1/51 |
0.60109 (±0.00000) Rank: 1/51 |
0.74332 (±0.00000) Rank: 1/51 |
MR | 7202.1 | 775.01 | 94.27 Rank: 28/51 |
7946.47 Rank: 12/51 |
4.475 Rank: 28/51 |
0.55541 Rank: 41/51 |
0.43548 (±0.00000) Rank: 29/51 |
0.55086 (±0.00000) Rank: 30/51 |
PSM | 7401.1 | 528.92 | 99.21 Rank: 13/51 |
8394.57 Rank: 11/51 |
3.397 Rank: 30/51 |
0.42783 Rank: 16/51 |
0.52578 (±0.00000) Rank: 17/51 |
0.62447 (±0.00000) Rank: 16/51 |
SF | 6892.1 | 517.77 | 99.73 Rank: 12/51 |
7478.55 Rank: 14/51 |
4.100 Rank: 41/51 |
0.28159 Rank: 6/51 |
0.78079 (±0.00000) Rank: 8/51 |
0.86685 (±0.00000) Rank: 7/51 |
SPC | 7444.9 | 904.84 | 100.00 Rank: 1/51 |
9063.37 Rank: 2/51 |
4.835 Rank: 25/51 |
0.44103 Rank: 17/51 |
0.75244 (±0.00000) Rank: 8/51 |
0.83934 (±0.00000) Rank: 9/51 |
Avg | 7240.0 | 741.42 | 98.62 Rank: 20/51 |
7816.40 Rank: 9/51 |
4.533 Rank: 29/51 |
0.37491 Rank: 13/51 |
0.66411 (±0.00000) Rank: 11/51 |
0.76099 (±0.00000) Rank: 9/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.75469 (±0.00000 over 1 run(s) / ±0.07716 over 3 scenes)
Rank (per category): 6 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 7573.2 | — | 286.3 | 0.087 Rank: 28/51 |
0.012 Rank: 6/51 |
0.59085 (±0.00000) Rank: 5/51 |
0.71096 (±0.00000) Rank: 5/51 |
Pond | 7866.3 | — | 405.4 | 0.108 Rank: 33/51 |
0.044 Rank: 37/51 |
0.56954 (±0.00000) Rank: 9/51 |
0.68998 (±0.00000) Rank: 12/51 |
Tree | 7712.7 | — | 606.7 | 0.133 Rank: 13/51 |
0.020 Rank: 15/51 |
0.79426 (±0.00000) Rank: 4/51 |
0.86313 (±0.00000) Rank: 5/51 |
Avg | 7717.4 | — | 432.8 | 0.109 Rank: 26/51 |
0.025 Rank: 33/51 |
0.65155 (±0.00000) Rank: 6/51 |
0.75469 (±0.00000) Rank: 6/51 |
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/29f8cfce05f7db9c-loftr_v4/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10032 over 3 scenes)
Rank (per category): 19 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 7573.2 | 243.19 | 81.90 Rank: 31/51 |
759.60 Rank: 33/51 |
2.754 Rank: 35/51 |
14.06322 Rank: 21/51 |
0.50298 (±0.00000) Rank: 25/51 |
0.58539 (±0.00000) Rank: 28/51 |
Pond | 7866.3 | 346.23 | 71.80 Rank: 6/51 |
729.11 Rank: 33/51 |
2.419 Rank: 37/51 |
0.44064 Rank: 34/51 |
0.31502 (±0.00000) Rank: 1/51 |
0.34118 (±0.00000) Rank: 3/51 |
Tree | 7712.7 | 375.32 | 70.40 Rank: 30/51 |
939.07 Rank: 32/51 |
2.493 Rank: 39/51 |
5.84978 Rank: 13/51 |
0.45471 (±0.00000) Rank: 16/51 |
0.48694 (±0.00000) Rank: 15/51 |
Avg | 7717.4 | 321.58 | 74.70 Rank: 25/51 |
809.26 Rank: 34/51 |
2.556 Rank: 37/51 |
6.78455 Rank: 15/51 |
0.42424 (±0.00000) Rank: 16/51 |
0.47117 (±0.00000) Rank: 19/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.40600 (±0.00000 over 1 run(s) / ±0.11076 over 17 scenes)
Rank (per category): 6 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 6889.5 | — | 1301.7 | 0.28571 (±0.00000) Rank: 4/51 |
0.42277 (±0.00000) Rank: 5/51 |
Bangkok (BGK) | 7136.9 | — | 870.4 | 0.08437 (±0.00000) Rank: 5/51 |
0.23201 (±0.00000) Rank: 5/51 |
Barcelona (BCN) | 6942.6 | — | 770.5 | 0.13114 (±0.00000) Rank: 13/51 |
0.21392 (±0.00000) Rank: 13/51 |
Buenos Aires (BAR) | 6929.5 | — | 923.2 | 0.29315 (±0.00000) Rank: 4/51 |
0.43744 (±0.00000) Rank: 1/51 |
Cambridge (CAM) | 6947.3 | — | 779.1 | 0.29384 (±0.00000) Rank: 4/51 |
0.42637 (±0.00000) Rank: 7/51 |
Cannes (CAN) | 7185.9 | — | 1244.8 | 0.41106 (±0.00000) Rank: 6/51 |
0.49724 (±0.00000) Rank: 10/51 |
Chicago (CHI) | 6958.7 | — | 890.2 | 0.25574 (±0.00000) Rank: 1/51 |
0.38675 (±0.00000) Rank: 2/51 |
Helsinki (HEL) | 6576.5 | — | 847.3 | 0.38144 (±0.00000) Rank: 6/51 |
0.58325 (±0.00000) Rank: 8/51 |
Madrid (MAD) | 7232.6 | — | 893.4 | 0.11915 (±0.00000) Rank: 2/51 |
0.25441 (±0.00000) Rank: 2/51 |
Mountain View (MTV) | 6974.9 | — | 797.2 | 0.26484 (±0.00000) Rank: 4/51 |
0.40918 (±0.00000) Rank: 4/51 |
New Orleans (NOR) | 7289.3 | — | 745.0 | 0.30592 (±0.00000) Rank: 5/51 |
0.40000 (±0.00000) Rank: 8/51 |
San Francisco (SF) | 6875.7 | — | 797.5 | 0.22782 (±0.00000) Rank: 1/51 |
0.35381 (±0.00000) Rank: 3/51 |
Singapore (SG) | 7000.8 | — | 1029.9 | 0.30759 (±0.00000) Rank: 8/51 |
0.41741 (±0.00000) Rank: 9/51 |
Sydney (SYD) | 6925.9 | — | 757.3 | 0.32926 (±0.00000) Rank: 6/51 |
0.49651 (±0.00000) Rank: 4/51 |
Tokyo (TOK) | 6903.2 | — | 816.5 | 0.50196 (±0.00000) Rank: 9/51 |
0.64975 (±0.00000) Rank: 7/51 |
Toronto (TOR) | 6982.3 | — | 1064.3 | 0.22400 (±0.00000) Rank: 7/51 |
0.39200 (±0.00000) Rank: 7/51 |
Zurich (ZRH) | 6854.4 | — | 953.4 | 0.25155 (±0.00000) Rank: 11/51 |
0.32921 (±0.00000) Rank: 8/51 |
Average (Avg) | 6976.8 | — | 910.7 | 0.27462 (±0.00000) Rank: 6/51 |
0.40600 (±0.00000) Rank: 6/51 |
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/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12083 over 17 scenes)
Rank (per category): 7 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 6889.5 | 803.98 | 94.67 Rank: 1/51 |
6993.13 Rank: 2/51 |
3.711 Rank: 6/51 |
26.40564 Rank: 22/51 |
0.36530 (±0.00000) Rank: 5/51 |
0.50564 (±0.00000) Rank: 2/51 |
BGK | 7136.9 | 625.69 | 97.87 Rank: 1/51 |
7104.89 Rank: 6/51 |
3.516 Rank: 15/51 |
15.03739 Rank: 26/51 |
0.03044 (±0.00000) Rank: 7/51 |
0.10030 (±0.00000) Rank: 4/51 |
BCN | 6942.6 | 456.66 | 88.84 Rank: 4/51 |
3502.74 Rank: 3/51 |
3.322 Rank: 17/51 |
26.08251 Rank: 13/51 |
0.16656 (±0.00000) Rank: 4/51 |
0.25783 (±0.00000) Rank: 5/51 |
BAR | 6929.5 | 516.23 | 87.25 Rank: 7/51 |
4328.66 Rank: 4/51 |
3.216 Rank: 10/51 |
17.13812 Rank: 25/51 |
0.17947 (±0.00000) Rank: 5/51 |
0.27239 (±0.00000) Rank: 6/51 |
CAM | 6947.3 | 462.72 | 88.19 Rank: 7/51 |
3880.04 Rank: 7/51 |
3.227 Rank: 11/51 |
28.07735 Rank: 25/51 |
0.18622 (±0.00000) Rank: 6/51 |
0.28020 (±0.00000) Rank: 6/51 |
CAN | 7185.9 | 627.10 | 82.96 Rank: 4/51 |
3580.72 Rank: 1/51 |
3.262 Rank: 15/51 |
22.88726 Rank: 24/51 |
0.12406 (±0.00000) Rank: 1/51 |
0.19230 (±0.00000) Rank: 1/51 |
CHI | 6958.7 | 794.75 | 92.59 Rank: 5/51 |
2166.52 Rank: 1/51 |
4.893 Rank: 9/51 |
48.39814 Rank: 25/51 |
0.16006 (±0.00000) Rank: 7/51 |
0.26010 (±0.00000) Rank: 6/51 |
HEL | 6576.5 | 564.70 | 95.20 Rank: 7/51 |
6638.91 Rank: 6/51 |
3.253 Rank: 20/51 |
13.37558 Rank: 20/51 |
0.28220 (±0.00000) Rank: 13/51 |
0.43092 (±0.00000) Rank: 11/51 |
MAD | 7232.6 | 553.80 | 91.65 Rank: 7/51 |
5768.43 Rank: 4/51 |
3.190 Rank: 17/51 |
6.78422 Rank: 26/51 |
0.07707 (±0.00000) Rank: 7/51 |
0.16774 (±0.00000) Rank: 6/51 |
MTV | 6974.9 | 563.94 | 92.72 Rank: 8/51 |
4861.32 Rank: 5/51 |
3.698 Rank: 12/51 |
14.57606 Rank: 16/51 |
0.23124 (±0.00000) Rank: 9/51 |
0.35101 (±0.00000) Rank: 9/51 |
NOR | 7289.3 | 466.37 | 85.37 Rank: 9/51 |
3487.43 Rank: 4/51 |
3.198 Rank: 8/51 |
13.24900 Rank: 25/51 |
0.25853 (±0.00000) Rank: 5/51 |
0.34050 (±0.00000) Rank: 5/51 |
SF | 6875.7 | 485.58 | 94.47 Rank: 7/51 |
4345.88 Rank: 4/51 |
3.333 Rank: 11/51 |
17.86395 Rank: 20/51 |
0.20839 (±0.00000) Rank: 7/51 |
0.33737 (±0.00000) Rank: 6/51 |
SG | 7000.8 | 613.53 | 77.67 Rank: 7/51 |
3589.73 Rank: 2/51 |
3.127 Rank: 13/51 |
19.25866 Rank: 28/51 |
0.15519 (±0.00000) Rank: 7/51 |
0.21783 (±0.00000) Rank: 7/51 |
SYD | 6925.9 | 461.39 | 85.91 Rank: 6/51 |
3180.62 Rank: 5/51 |
3.039 Rank: 19/51 |
17.16320 Rank: 25/51 |
0.20104 (±0.00000) Rank: 7/51 |
0.29056 (±0.00000) Rank: 7/51 |
TOK | 6903.2 | 541.84 | 90.67 Rank: 4/51 |
6508.22 Rank: 1/51 |
3.332 Rank: 14/51 |
16.33098 Rank: 26/51 |
0.54580 (±0.00000) Rank: 9/51 |
0.61304 (±0.00000) Rank: 9/51 |
TOR | 6982.3 | 656.95 | 94.00 Rank: 1/51 |
6243.08 Rank: 1/51 |
3.128 Rank: 14/51 |
18.93460 Rank: 27/51 |
0.17159 (±0.00000) Rank: 7/51 |
0.29081 (±0.00000) Rank: 6/51 |
ZRH | 6854.4 | 581.52 | 87.01 Rank: 4/51 |
4846.28 Rank: 1/51 |
3.027 Rank: 16/51 |
17.93010 Rank: 16/51 |
0.14936 (±0.00000) Rank: 2/51 |
0.23057 (±0.00000) Rank: 3/51 |
Avg | 6976.8 | 575.10 | 89.83 Rank: 6/51 |
4766.27 Rank: 3/51 |
3.381 Rank: 11/51 |
19.97016 Rank: 24/51 |
0.20544 (±0.00000) Rank: 7/51 |
0.30230 (±0.00000) Rank: 7/51 |
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/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/29f8cfce05f7db9c-loftr_v4/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)