Submission ID: 9e36caf8
zoom matching v3
Processed: 21-05-28. Download link: 9e36caf866d81de8-zoom_matchingv3.json
This page ranks the submission against all others using the same number of keypoints, regardless of descriptor size. Please hover over table headers for descriptions on metrics and full scene names.
- Phototourism dataset: Stereo track / Multiview track
- Prague Parks dataset: Stereo track / Multiview track
- Google Urban dataset: Stereo track / Multiview track
Metadata
- Authors: Jiaming Sun, Xingyi He (contact)
- Keypoint: inverse
- Descriptor: inverse (128 float32: 512 bytes)
- Number of features: 8000
- Summary: inverse and zoom matching
- Paper: N/A
- Website: N/A
- Processing date: 21-05-28
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.60907 (±0.00000 over 1 run(s) / ±0.14832 over 9 scenes)
Rank (per category): 10 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 7339.0 | — | 914.7 | 0.532 Rank: 31/51 |
0.905 Rank: 32/51 |
0.47369 (±0.00000) Rank: 6/51 |
0.62398 (±0.00000) Rank: 6/51 |
FCS | 7544.5 | — | 769.7 | 0.427 Rank: 43/51 |
0.884 Rank: 28/51 |
0.65185 (±0.00000) Rank: 15/51 |
0.77072 (±0.00000) Rank: 15/51 |
LMS | 6690.9 | — | 358.6 | 0.348 Rank: 47/51 |
0.673 Rank: 29/51 |
0.62043 (±0.00000) Rank: 2/51 |
0.73131 (±0.00000) Rank: 3/51 |
LB | 7210.4 | — | 808.7 | 0.672 Rank: 5/51 |
0.681 Rank: 40/51 |
0.53308 (±0.00000) Rank: 6/51 |
0.62529 (±0.00000) Rank: 14/51 |
MC | 7435.4 | — | 999.8 | 0.616 Rank: 26/51 |
0.869 Rank: 36/51 |
0.42464 (±0.00000) Rank: 6/51 |
0.57779 (±0.00000) Rank: 11/51 |
MR | 7202.1 | — | 812.0 | 0.486 Rank: 31/51 |
0.898 Rank: 35/51 |
0.29225 (±0.00000) Rank: 29/51 |
0.40548 (±0.00000) Rank: 29/51 |
PSM | 7401.1 | — | 549.6 | 0.417 Rank: 30/51 |
0.611 Rank: 39/51 |
0.19388 (±0.00000) Rank: 18/51 |
0.31214 (±0.00000) Rank: 21/51 |
SF | 6892.1 | — | 527.0 | 0.385 Rank: 44/51 |
0.815 Rank: 27/51 |
0.55630 (±0.00000) Rank: 9/51 |
0.68326 (±0.00000) Rank: 12/51 |
SPC | 7444.9 | — | 901.7 | 0.529 Rank: 26/51 |
0.800 Rank: 33/51 |
0.61279 (±0.00000) Rank: 3/51 |
0.75163 (±0.00000) Rank: 3/51 |
Avg | 7240.0 | — | 738.0 | 0.490 Rank: 30/51 |
0.793 Rank: 35/51 |
0.48432 (±0.00000) Rank: 9/51 |
0.60907 (±0.00000) Rank: 10/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10743 over 9 scenes)
Rank (per category): 7 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 7339.0 | 901.18 | 99.95 Rank: 9/51 |
8726.72 Rank: 1/51 |
4.881 Rank: 28/51 |
0.32524 Rank: 1/51 |
0.61649 (±0.00000) Rank: 1/51 |
0.75169 (±0.00000) Rank: 1/51 |
FCS | 7544.5 | 764.64 | 97.60 Rank: 27/51 |
8499.56 Rank: 11/51 |
4.483 Rank: 28/51 |
0.22122 Rank: 9/51 |
0.77180 (±0.00000) Rank: 6/51 |
0.83206 (±0.00000) Rank: 6/51 |
LMS | 6690.9 | 370.11 | 99.20 Rank: 23/51 |
4617.14 Rank: 17/51 |
4.003 Rank: 43/51 |
0.28255 Rank: 9/51 |
0.83175 (±0.00000) Rank: 16/51 |
0.88464 (±0.00000) Rank: 17/51 |
LB | 7210.4 | 929.86 | 97.63 Rank: 31/51 |
7225.38 Rank: 3/51 |
5.390 Rank: 12/51 |
0.48469 Rank: 26/51 |
0.70596 (±0.00000) Rank: 22/51 |
0.79817 (±0.00000) Rank: 21/51 |
MC | 7435.4 | 980.48 | 99.80 Rank: 29/51 |
8391.10 Rank: 4/51 |
5.262 Rank: 26/51 |
0.32135 Rank: 7/51 |
0.59408 (±0.00000) Rank: 2/51 |
0.73134 (±0.00000) Rank: 2/51 |
MR | 7202.1 | 775.01 | 95.09 Rank: 19/51 |
8113.68 Rank: 10/51 |
4.503 Rank: 27/51 |
0.48765 Rank: 21/51 |
0.44495 (±0.00000) Rank: 27/51 |
0.56385 (±0.00000) Rank: 27/51 |
PSM | 7401.1 | 528.92 | 99.13 Rank: 14/51 |
8453.60 Rank: 10/51 |
3.375 Rank: 32/51 |
0.43067 Rank: 17/51 |
0.51251 (±0.00000) Rank: 21/51 |
0.60843 (±0.00000) Rank: 18/51 |
SF | 6892.1 | 517.77 | 99.80 Rank: 10/51 |
7485.75 Rank: 13/51 |
4.100 Rank: 42/51 |
0.28288 Rank: 7/51 |
0.77961 (±0.00000) Rank: 9/51 |
0.86656 (±0.00000) Rank: 8/51 |
SPC | 7444.9 | 904.84 | 100.00 Rank: 1/51 |
9088.56 Rank: 1/51 |
4.847 Rank: 23/51 |
0.41581 Rank: 10/51 |
0.76381 (±0.00000) Rank: 4/51 |
0.85078 (±0.00000) Rank: 4/51 |
Avg | 7240.0 | 741.42 | 98.69 Rank: 17/51 |
7844.61 Rank: 8/51 |
4.538 Rank: 28/51 |
0.36134 Rank: 5/51 |
0.66900 (±0.00000) Rank: 6/51 |
0.76528 (±0.00000) Rank: 7/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.72143 (±0.00000 over 1 run(s) / ±0.08194 over 3 scenes)
Rank (per category): 14 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 7708.8 | — | 813.8 | 0.092 Rank: 24/51 |
0.015 Rank: 1/51 |
0.52621 (±0.00000) Rank: 15/51 |
0.66325 (±0.00000) Rank: 15/51 |
Pond | 7885.2 | — | 1109.8 | 0.109 Rank: 27/51 |
0.035 Rank: 40/51 |
0.55671 (±0.00000) Rank: 13/51 |
0.66373 (±0.00000) Rank: 19/51 |
Tree | 7796.6 | — | 1400.1 | 0.136 Rank: 10/51 |
0.018 Rank: 33/51 |
0.75453 (±0.00000) Rank: 11/51 |
0.83731 (±0.00000) Rank: 10/51 |
Avg | 7796.8 | — | 1107.9 | 0.113 Rank: 22/51 |
0.023 Rank: 40/51 |
0.61248 (±0.00000) Rank: 13/51 |
0.72143 (±0.00000) Rank: 14/51 |
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/9e36caf866d81de8-zoom_matchingv3/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.11394 over 3 scenes)
Rank (per category): 11 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 7708.8 | 736.70 | 85.30 Rank: 4/51 |
3072.70 Rank: 12/51 |
2.680 Rank: 39/51 |
14.19247 Rank: 29/51 |
0.49120 (±0.00000) Rank: 28/51 |
0.60196 (±0.00000) Rank: 24/51 |
Pond | 7885.2 | 1078.28 | 71.83 Rank: 5/51 |
3021.42 Rank: 10/51 |
2.521 Rank: 34/51 |
0.44021 Rank: 33/51 |
0.30456 (±0.00000) Rank: 7/51 |
0.32999 (±0.00000) Rank: 9/51 |
Tree | 7796.6 | 1229.16 | 72.57 Rank: 11/51 |
3690.58 Rank: 3/51 |
2.580 Rank: 34/51 |
5.97836 Rank: 16/51 |
0.48524 (±0.00000) Rank: 2/51 |
0.52026 (±0.00000) Rank: 4/51 |
Avg | 7796.8 | 1014.71 | 76.57 Rank: 3/51 |
3261.57 Rank: 8/51 |
2.594 Rank: 34/51 |
6.87035 Rank: 22/51 |
0.42700 (±0.00000) Rank: 14/51 |
0.48407 (±0.00000) Rank: 11/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.40596 (±0.00000 over 1 run(s) / ±0.11060 over 17 scenes)
Rank (per category): 7 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 7139.9 | — | 1267.7 | 0.28571 (±0.00000) Rank: 4/51 |
0.42054 (±0.00000) Rank: 9/51 |
Bangkok (BGK) | 7444.8 | — | 1129.0 | 0.09181 (±0.00000) Rank: 1/51 |
0.23325 (±0.00000) Rank: 2/51 |
Barcelona (BCN) | 6942.6 | — | 770.5 | 0.13114 (±0.00000) Rank: 13/51 |
0.21392 (±0.00000) Rank: 13/51 |
Buenos Aires (BAR) | 7090.6 | — | 856.0 | 0.29315 (±0.00000) Rank: 4/51 |
0.43653 (±0.00000) Rank: 5/51 |
Cambridge (CAM) | 6963.1 | — | 884.4 | 0.29178 (±0.00000) Rank: 4/51 |
0.42466 (±0.00000) Rank: 10/51 |
Cannes (CAN) | 7185.9 | — | 1244.8 | 0.41106 (±0.00000) Rank: 6/51 |
0.49724 (±0.00000) Rank: 10/51 |
Chicago (CHI) | 6958.7 | — | 890.2 | 0.25574 (±0.00000) Rank: 1/51 |
0.38675 (±0.00000) Rank: 2/51 |
Helsinki (HEL) | 6576.5 | — | 847.3 | 0.38144 (±0.00000) Rank: 6/51 |
0.58325 (±0.00000) Rank: 8/51 |
Madrid (MAD) | 7232.6 | — | 893.4 | 0.11915 (±0.00000) Rank: 2/51 |
0.25441 (±0.00000) Rank: 2/51 |
Mountain View (MTV) | 6974.9 | — | 797.2 | 0.26484 (±0.00000) Rank: 4/51 |
0.40918 (±0.00000) Rank: 4/51 |
New Orleans (NOR) | 7393.1 | — | 722.0 | 0.30769 (±0.00000) Rank: 3/51 |
0.40148 (±0.00000) Rank: 6/51 |
San Francisco (SF) | 6968.1 | — | 782.0 | 0.22572 (±0.00000) Rank: 4/51 |
0.35118 (±0.00000) Rank: 5/51 |
Singapore (SG) | 7432.3 | — | 939.7 | 0.31139 (±0.00000) Rank: 4/51 |
0.41930 (±0.00000) Rank: 7/51 |
Sydney (SYD) | 6925.9 | — | 757.3 | 0.32926 (±0.00000) Rank: 6/51 |
0.49651 (±0.00000) Rank: 4/51 |
Tokyo (TOK) | 6828.9 | — | 680.2 | 0.50490 (±0.00000) Rank: 6/51 |
0.64902 (±0.00000) Rank: 9/51 |
Toronto (TOR) | 7297.0 | — | 1017.7 | 0.22640 (±0.00000) Rank: 4/51 |
0.39600 (±0.00000) Rank: 4/51 |
Zurich (ZRH) | 7031.0 | — | 828.4 | 0.25361 (±0.00000) Rank: 8/51 |
0.32818 (±0.00000) Rank: 12/51 |
Average (Avg) | 7081.5 | — | 900.5 | 0.27558 (±0.00000) Rank: 3/51 |
0.40596 (±0.00000) Rank: 7/51 |
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/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12649 over 17 scenes)
Rank (per category): 8 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 7139.9 | 789.09 | 93.33 Rank: 4/51 |
6706.00 Rank: 4/51 |
3.648 Rank: 9/51 |
28.30444 Rank: 28/51 |
0.35779 (±0.00000) Rank: 6/51 |
0.48984 (±0.00000) Rank: 6/51 |
BGK | 7444.8 | 806.55 | 97.60 Rank: 2/51 |
8349.26 Rank: 4/51 |
3.605 Rank: 12/51 |
14.54744 Rank: 24/51 |
0.03193 (±0.00000) Rank: 5/51 |
0.09500 (±0.00000) Rank: 5/51 |
BCN | 6942.6 | 456.66 | 89.25 Rank: 1/51 |
3334.40 Rank: 5/51 |
3.377 Rank: 11/51 |
27.74694 Rank: 21/51 |
0.15995 (±0.00000) Rank: 6/51 |
0.25052 (±0.00000) Rank: 6/51 |
BAR | 7090.6 | 480.76 | 88.57 Rank: 4/51 |
4207.37 Rank: 5/51 |
3.280 Rank: 5/51 |
18.02104 Rank: 28/51 |
0.17969 (±0.00000) Rank: 4/51 |
0.28117 (±0.00000) Rank: 3/51 |
CAM | 6963.1 | 523.96 | 86.17 Rank: 10/51 |
4112.36 Rank: 5/51 |
3.218 Rank: 12/51 |
25.87022 Rank: 21/51 |
0.17173 (±0.00000) Rank: 10/51 |
0.26300 (±0.00000) Rank: 8/51 |
CAN | 7185.9 | 627.10 | 81.53 Rank: 8/51 |
3412.58 Rank: 4/51 |
3.296 Rank: 12/51 |
21.75172 Rank: 23/51 |
0.11939 (±0.00000) Rank: 3/51 |
0.17999 (±0.00000) Rank: 3/51 |
CHI | 6958.7 | 794.75 | 94.67 Rank: 1/51 |
2145.04 Rank: 3/51 |
4.867 Rank: 10/51 |
49.02255 Rank: 26/51 |
0.20175 (±0.00000) Rank: 1/51 |
0.30136 (±0.00000) Rank: 1/51 |
HEL | 6576.5 | 564.70 | 95.60 Rank: 4/51 |
6842.83 Rank: 3/51 |
3.268 Rank: 17/51 |
13.88283 Rank: 23/51 |
0.28360 (±0.00000) Rank: 12/51 |
0.43954 (±0.00000) Rank: 9/51 |
MAD | 7232.6 | 553.80 | 92.64 Rank: 3/51 |
5942.74 Rank: 2/51 |
3.198 Rank: 14/51 |
5.50006 Rank: 18/51 |
0.07965 (±0.00000) Rank: 5/51 |
0.17330 (±0.00000) Rank: 4/51 |
MTV | 6974.9 | 563.94 | 92.63 Rank: 9/51 |
5062.50 Rank: 3/51 |
3.710 Rank: 8/51 |
15.40882 Rank: 20/51 |
0.25450 (±0.00000) Rank: 4/51 |
0.38066 (±0.00000) Rank: 5/51 |
NOR | 7393.1 | 454.51 | 87.50 Rank: 2/51 |
3578.30 Rank: 1/51 |
3.089 Rank: 12/51 |
14.13881 Rank: 28/51 |
0.24639 (±0.00000) Rank: 6/51 |
0.32532 (±0.00000) Rank: 6/51 |
SF | 6968.1 | 477.62 | 95.94 Rank: 3/51 |
4166.59 Rank: 6/51 |
3.361 Rank: 6/51 |
17.73857 Rank: 19/51 |
0.20628 (±0.00000) Rank: 8/51 |
0.33472 (±0.00000) Rank: 7/51 |
SG | 7432.3 | 566.05 | 77.03 Rank: 8/51 |
2775.80 Rank: 6/51 |
3.104 Rank: 16/51 |
14.65249 Rank: 14/51 |
0.12137 (±0.00000) Rank: 13/51 |
0.16981 (±0.00000) Rank: 14/51 |
SYD | 6925.9 | 461.39 | 85.14 Rank: 8/51 |
3235.22 Rank: 4/51 |
2.992 Rank: 20/51 |
14.36506 Rank: 18/51 |
0.19556 (±0.00000) Rank: 9/51 |
0.28370 (±0.00000) Rank: 8/51 |
TOK | 6828.9 | 446.18 | 89.63 Rank: 7/51 |
5785.58 Rank: 4/51 |
3.327 Rank: 15/51 |
15.56525 Rank: 23/51 |
0.55182 (±0.00000) Rank: 6/51 |
0.62504 (±0.00000) Rank: 6/51 |
TOR | 7297.0 | 624.02 | 92.80 Rank: 4/51 |
6057.84 Rank: 3/51 |
3.103 Rank: 17/51 |
19.01952 Rank: 28/51 |
0.17385 (±0.00000) Rank: 6/51 |
0.28977 (±0.00000) Rank: 7/51 |
ZRH | 7031.0 | 509.06 | 84.86 Rank: 8/51 |
3773.25 Rank: 6/51 |
2.954 Rank: 21/51 |
19.25751 Rank: 25/51 |
0.12430 (±0.00000) Rank: 7/51 |
0.20765 (±0.00000) Rank: 7/51 |
Avg | 7081.5 | 570.60 | 89.70 Rank: 8/51 |
4675.74 Rank: 5/51 |
3.376 Rank: 12/51 |
19.69372 Rank: 23/51 |
0.20350 (±0.00000) Rank: 8/51 |
0.29943 (±0.00000) Rank: 8/51 |
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/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9e36caf866d81de8-zoom_matchingv3/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)