Submission ID: 93ec4ec0
Cassius-8K
Processed: 21-06-16. Download link: 93ec4ec0a1e94ec2-cassius-8k.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: Cassius (contact)
- Keypoint: trial
- Descriptor: trial (128 float32: 512 bytes)
- Number of features: 8000
- Summary: Cassius-8K
- Paper: N/A
- Website: N/A
- Processing date: 21-06-16
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.37448 (±0.00000 over 1 run(s) / ±0.11717 over 9 scenes)
Rank (per category): 41 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 6278.6 | — | 1784.8 | 0.682 Rank: 10/51 |
0.925 Rank: 27/51 |
0.14534 (±0.00000) Rank: 40/51 |
0.25795 (±0.00000) Rank: 40/51 |
FCS | 7386.1 | — | 1311.1 | 0.556 Rank: 6/51 |
0.845 Rank: 40/51 |
0.32071 (±0.00000) Rank: 42/51 |
0.42290 (±0.00000) Rank: 42/51 |
LMS | 6403.7 | — | 810.2 | 0.533 Rank: 12/51 |
0.608 Rank: 43/51 |
0.40906 (±0.00000) Rank: 38/51 |
0.51568 (±0.00000) Rank: 38/51 |
LB | 5785.4 | — | 930.2 | 0.586 Rank: 16/51 |
0.713 Rank: 35/51 |
0.26100 (±0.00000) Rank: 40/51 |
0.35982 (±0.00000) Rank: 41/51 |
MC | 6476.0 | — | 1704.5 | 0.691 Rank: 7/51 |
0.911 Rank: 30/51 |
0.25584 (±0.00000) Rank: 40/51 |
0.39242 (±0.00000) Rank: 39/51 |
MR | 7403.5 | — | 1392.4 | 0.640 Rank: 6/51 |
0.858 Rank: 43/51 |
0.22637 (±0.00000) Rank: 39/51 |
0.31721 (±0.00000) Rank: 40/51 |
PSM | 7260.8 | — | 773.2 | 0.538 Rank: 7/51 |
0.646 Rank: 26/51 |
0.07110 (±0.00000) Rank: 40/51 |
0.13924 (±0.00000) Rank: 41/51 |
SF | 7582.5 | — | 1203.9 | 0.559 Rank: 8/51 |
0.749 Rank: 39/51 |
0.32881 (±0.00000) Rank: 40/51 |
0.43171 (±0.00000) Rank: 40/51 |
SPC | 6520.9 | — | 1541.3 | 0.600 Rank: 9/51 |
0.837 Rank: 24/51 |
0.36659 (±0.00000) Rank: 38/51 |
0.53343 (±0.00000) Rank: 35/51 |
Avg | 6788.6 | — | 1272.4 | 0.598 Rank: 7/51 |
0.788 Rank: 38/51 |
0.26498 (±0.00000) Rank: 40/51 |
0.37448 (±0.00000) Rank: 41/51 |
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/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09858 over 9 scenes)
Rank (per category): 25 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 6278.6 | 1798.00 | 99.67 Rank: 34/51 |
5631.00 Rank: 14/51 |
6.711 Rank: 2/51 |
0.44258 Rank: 22/51 |
0.49077 (±0.00000) Rank: 24/51 |
0.63840 (±0.00000) Rank: 24/51 |
FCS | 7386.1 | 1377.04 | 97.83 Rank: 24/51 |
7114.18 Rank: 16/51 |
5.701 Rank: 3/51 |
0.28551 Rank: 35/51 |
0.70822 (±0.00000) Rank: 28/51 |
0.77947 (±0.00000) Rank: 25/51 |
LMS | 6403.7 | 892.56 | 99.73 Rank: 1/51 |
5305.21 Rank: 12/51 |
5.364 Rank: 5/51 |
0.35554 Rank: 39/51 |
0.80085 (±0.00000) Rank: 28/51 |
0.87010 (±0.00000) Rank: 23/51 |
LB | 5785.4 | 1130.53 | 98.03 Rank: 24/51 |
4329.41 Rank: 16/51 |
6.144 Rank: 4/51 |
0.46480 Rank: 7/51 |
0.69809 (±0.00000) Rank: 24/51 |
0.79210 (±0.00000) Rank: 24/51 |
MC | 6476.0 | 1675.88 | 100.00 Rank: 1/51 |
6074.79 Rank: 15/51 |
6.689 Rank: 3/51 |
0.34907 Rank: 19/51 |
0.52827 (±0.00000) Rank: 31/51 |
0.68201 (±0.00000) Rank: 27/51 |
MR | 7403.5 | 1395.03 | 93.52 Rank: 36/51 |
6720.97 Rank: 16/51 |
5.688 Rank: 5/51 |
0.49228 Rank: 24/51 |
0.46166 (±0.00000) Rank: 20/51 |
0.57269 (±0.00000) Rank: 20/51 |
PSM | 7260.8 | 775.35 | 95.49 Rank: 28/51 |
6667.72 Rank: 16/51 |
4.701 Rank: 6/51 |
0.46703 Rank: 19/51 |
0.52535 (±0.00000) Rank: 18/51 |
0.60483 (±0.00000) Rank: 20/51 |
SF | 7582.5 | 1172.16 | 95.84 Rank: 35/51 |
7305.96 Rank: 16/51 |
5.607 Rank: 4/51 |
0.31158 Rank: 27/51 |
0.69822 (±0.00000) Rank: 32/51 |
0.77953 (±0.00000) Rank: 32/51 |
SPC | 6520.9 | 1600.79 | 99.93 Rank: 14/51 |
6607.14 Rank: 15/51 |
6.256 Rank: 2/51 |
0.40028 Rank: 7/51 |
0.71534 (±0.00000) Rank: 21/51 |
0.81990 (±0.00000) Rank: 20/51 |
Avg | 6788.6 | 1313.04 | 97.78 Rank: 31/51 |
6195.15 Rank: 16/51 |
5.873 Rank: 5/51 |
0.39652 Rank: 20/51 |
0.62520 (±0.00000) Rank: 25/51 |
0.72656 (±0.00000) Rank: 25/51 |
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/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.41780 (±0.00000 over 1 run(s) / ±0.04095 over 3 scenes)
Rank (per category): 35 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | — | 639.6 | 0.134 Rank: 6/51 |
0.010 Rank: 24/51 |
0.28488 (±0.00000) Rank: 32/51 |
0.37379 (±0.00000) Rank: 34/51 |
Pond | 8000.0 | — | 814.0 | 0.171 Rank: 5/51 |
0.056 Rank: 9/51 |
0.30180 (±0.00000) Rank: 34/51 |
0.40721 (±0.00000) Rank: 35/51 |
Tree | 8000.0 | — | 528.7 | 0.146 Rank: 1/51 |
0.018 Rank: 38/51 |
0.36203 (±0.00000) Rank: 34/51 |
0.47241 (±0.00000) Rank: 34/51 |
Avg | 8000.0 | — | 660.8 | 0.150 Rank: 1/51 |
0.028 Rank: 15/51 |
0.31624 (±0.00000) Rank: 34/51 |
0.41780 (±0.00000) Rank: 35/51 |
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/93ec4ec0a1e94ec2-cassius-8k/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.13430 over 3 scenes)
Rank (per category): 34 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 851.16 | 84.17 Rank: 20/51 |
2906.86 Rank: 13/51 |
3.560 Rank: 5/51 |
14.17624 Rank: 27/51 |
0.50102 (±0.00000) Rank: 26/51 |
0.60128 (±0.00000) Rank: 25/51 |
Pond | 8000.0 | 1135.11 | 70.73 Rank: 12/51 |
2993.01 Rank: 11/51 |
3.162 Rank: 6/51 |
0.44359 Rank: 37/51 |
0.26867 (±0.00000) Rank: 17/51 |
0.29474 (±0.00000) Rank: 22/51 |
Tree | 8000.0 | 746.85 | 70.27 Rank: 31/51 |
1670.69 Rank: 13/51 |
3.108 Rank: 5/51 |
5.66765 Rank: 9/51 |
0.31358 (±0.00000) Rank: 34/51 |
0.34460 (±0.00000) Rank: 34/51 |
Avg | 8000.0 | 911.04 | 75.06 Rank: 22/51 |
2523.52 Rank: 14/51 |
3.277 Rank: 6/51 |
6.76249 Rank: 12/51 |
0.36109 (±0.00000) Rank: 34/51 |
0.41354 (±0.00000) Rank: 34/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.16480 (±0.00000 over 1 run(s) / ±0.07428 over 17 scenes)
Rank (per category): 28 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 4334.3 | — | 409.2 | 0.07679 (±0.00000) Rank: 28/51 |
0.18304 (±0.00000) Rank: 28/51 |
Bangkok (BGK) | 3599.8 | — | 542.7 | 0.04069 (±0.00000) Rank: 25/51 |
0.10670 (±0.00000) Rank: 27/51 |
Barcelona (BCN) | 4610.3 | — | 273.8 | 0.02637 (±0.00000) Rank: 28/51 |
0.07326 (±0.00000) Rank: 28/51 |
Buenos Aires (BAR) | 4336.3 | — | 378.9 | 0.08037 (±0.00000) Rank: 28/51 |
0.15251 (±0.00000) Rank: 28/51 |
Cambridge (CAM) | 3294.7 | — | 314.6 | 0.09452 (±0.00000) Rank: 28/51 |
0.20103 (±0.00000) Rank: 28/51 |
Cannes (CAN) | 3459.3 | — | 422.7 | 0.18065 (±0.00000) Rank: 28/51 |
0.27742 (±0.00000) Rank: 28/51 |
Chicago (CHI) | 4249.8 | — | 125.9 | 0.05191 (±0.00000) Rank: 24/51 |
0.10362 (±0.00000) Rank: 22/51 |
Helsinki (HEL) | 3841.1 | — | 675.7 | 0.18144 (±0.00000) Rank: 28/51 |
0.32345 (±0.00000) Rank: 28/51 |
Madrid (MAD) | 4049.7 | — | 226.0 | 0.02796 (±0.00000) Rank: 27/51 |
0.06140 (±0.00000) Rank: 28/51 |
Mountain View (MTV) | 4192.5 | — | 230.1 | 0.03984 (±0.00000) Rank: 28/51 |
0.08867 (±0.00000) Rank: 28/51 |
New Orleans (NOR) | 3727.1 | — | 222.8 | 0.09704 (±0.00000) Rank: 28/51 |
0.15237 (±0.00000) Rank: 28/51 |
San Francisco (SF) | 3565.9 | — | 307.4 | 0.06667 (±0.00000) Rank: 27/51 |
0.15906 (±0.00000) Rank: 26/51 |
Singapore (SG) | 3334.7 | — | 265.7 | 0.08671 (±0.00000) Rank: 28/51 |
0.15570 (±0.00000) Rank: 28/51 |
Sydney (SYD) | 3714.6 | — | 247.8 | 0.06900 (±0.00000) Rank: 28/51 |
0.13406 (±0.00000) Rank: 28/51 |
Tokyo (TOK) | 3583.7 | — | 325.1 | 0.19510 (±0.00000) Rank: 28/51 |
0.30588 (±0.00000) Rank: 28/51 |
Toronto (TOR) | 3940.2 | — | 150.2 | 0.07040 (±0.00000) Rank: 28/51 |
0.13920 (±0.00000) Rank: 28/51 |
Zurich (ZRH) | 4461.8 | — | 340.6 | 0.11478 (±0.00000) Rank: 28/51 |
0.18419 (±0.00000) Rank: 28/51 |
Average (Avg) | 3899.7 | — | 321.1 | 0.08825 (±0.00000) Rank: 28/51 |
0.16480 (±0.00000) Rank: 28/51 |
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/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09788 over 17 scenes)
Rank (per category): 23 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 4334.3 | 229.01 | 81.75 Rank: 19/51 |
2027.50 Rank: 14/51 |
3.644 Rank: 11/51 |
21.15459 Rank: 9/51 |
0.22621 (±0.00000) Rank: 22/51 |
0.31004 (±0.00000) Rank: 23/51 |
BGK | 3599.8 | 339.72 | 93.33 Rank: 17/51 |
3215.99 Rank: 13/51 |
3.929 Rank: 1/51 |
10.53790 Rank: 3/51 |
0.01484 (±0.00000) Rank: 25/51 |
0.06008 (±0.00000) Rank: 24/51 |
BCN | 4610.3 | 148.37 | 77.83 Rank: 17/51 |
1078.65 Rank: 17/51 |
3.684 Rank: 3/51 |
24.24976 Rank: 8/51 |
0.06233 (±0.00000) Rank: 26/51 |
0.11211 (±0.00000) Rank: 26/51 |
BAR | 4336.3 | 193.53 | 68.64 Rank: 19/51 |
1363.32 Rank: 13/51 |
3.240 Rank: 8/51 |
12.33047 Rank: 12/51 |
0.04788 (±0.00000) Rank: 21/51 |
0.08857 (±0.00000) Rank: 21/51 |
CAM | 3294.7 | 175.90 | 75.79 Rank: 17/51 |
1532.17 Rank: 14/51 |
3.513 Rank: 5/51 |
21.89715 Rank: 15/51 |
0.12060 (±0.00000) Rank: 14/51 |
0.17531 (±0.00000) Rank: 14/51 |
CAN | 3459.3 | 220.03 | 69.13 Rank: 12/51 |
986.31 Rank: 13/51 |
3.514 Rank: 3/51 |
16.08550 Rank: 16/51 |
0.02841 (±0.00000) Rank: 18/51 |
0.06533 (±0.00000) Rank: 16/51 |
CHI | 4249.8 | 105.60 | 76.99 Rank: 20/51 |
431.04 Rank: 20/51 |
4.954 Rank: 7/51 |
44.87070 Rank: 15/51 |
0.06693 (±0.00000) Rank: 19/51 |
0.12988 (±0.00000) Rank: 17/51 |
HEL | 3841.1 | 470.51 | 89.99 Rank: 21/51 |
3512.60 Rank: 11/51 |
3.930 Rank: 4/51 |
11.42040 Rank: 4/51 |
0.21224 (±0.00000) Rank: 25/51 |
0.32618 (±0.00000) Rank: 25/51 |
MAD | 4049.7 | 131.68 | 78.57 Rank: 23/51 |
1319.44 Rank: 18/51 |
3.514 Rank: 1/51 |
3.45011 Rank: 3/51 |
0.03064 (±0.00000) Rank: 23/51 |
0.07561 (±0.00000) Rank: 23/51 |
MTV | 4192.5 | 154.55 | 81.84 Rank: 21/51 |
1399.35 Rank: 16/51 |
3.937 Rank: 1/51 |
13.65771 Rank: 9/51 |
0.11596 (±0.00000) Rank: 21/51 |
0.20731 (±0.00000) Rank: 21/51 |
NOR | 3727.1 | 142.19 | 62.74 Rank: 18/51 |
901.64 Rank: 13/51 |
3.209 Rank: 6/51 |
7.71879 Rank: 10/51 |
0.05172 (±0.00000) Rank: 23/51 |
0.08638 (±0.00000) Rank: 22/51 |
SF | 3565.9 | 176.15 | 82.09 Rank: 14/51 |
1398.73 Rank: 16/51 |
3.343 Rank: 10/51 |
15.55128 Rank: 16/51 |
0.08528 (±0.00000) Rank: 23/51 |
0.16564 (±0.00000) Rank: 23/51 |
SG | 3334.7 | 155.91 | 59.33 Rank: 23/51 |
714.67 Rank: 20/51 |
3.148 Rank: 10/51 |
12.72317 Rank: 8/51 |
0.02933 (±0.00000) Rank: 27/51 |
0.05878 (±0.00000) Rank: 27/51 |
SYD | 3714.6 | 131.90 | 72.53 Rank: 17/51 |
902.08 Rank: 15/51 |
3.474 Rank: 4/51 |
11.39633 Rank: 9/51 |
0.14430 (±0.00000) Rank: 16/51 |
0.21160 (±0.00000) Rank: 16/51 |
TOK | 3583.7 | 195.86 | 77.31 Rank: 23/51 |
1872.84 Rank: 15/51 |
3.616 Rank: 5/51 |
9.86043 Rank: 9/51 |
0.30779 (±0.00000) Rank: 23/51 |
0.37274 (±0.00000) Rank: 23/51 |
TOR | 3940.2 | 77.16 | 72.73 Rank: 19/51 |
699.66 Rank: 17/51 |
3.281 Rank: 6/51 |
13.31624 Rank: 15/51 |
0.04985 (±0.00000) Rank: 22/51 |
0.09072 (±0.00000) Rank: 23/51 |
ZRH | 4461.8 | 188.55 | 73.03 Rank: 20/51 |
1877.35 Rank: 13/51 |
3.134 Rank: 10/51 |
12.92367 Rank: 6/51 |
0.03754 (±0.00000) Rank: 21/51 |
0.06922 (±0.00000) Rank: 22/51 |
Avg | 3899.7 | 190.39 | 76.10 Rank: 20/51 |
1484.31 Rank: 15/51 |
3.592 Rank: 5/51 |
15.47907 Rank: 10/51 |
0.09599 (±0.00000) Rank: 23/51 |
0.15326 (±0.00000) Rank: 23/51 |
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/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/93ec4ec0a1e94ec2-cassius-8k/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)