Submission ID: c328dad9
MA-BELL-7F71617A
Processed: 21-06-10. Download link: c328dad9da6ab238-kis_ma_bell.json
This page ranks the submission against all others using the same number of keypoints, regardless of descriptor size. Please hover over table headers for descriptions on metrics and full scene names.
- Phototourism dataset: Stereo track / Multiview track
- Prague Parks dataset: Stereo track / Multiview track
- Google Urban dataset: Stereo track / Multiview track
Metadata
- Authors: Lloyd (contact)
- Keypoint: kis
- Descriptor: kis (128 float32: 512 bytes)
- Number of features: 8000
- Summary: MA BELL in 7F71617A without outlier filter
- Paper: N/A
- Website: N/A
- Processing date: 21-06-10
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.06699 (±0.00000 over 1 run(s) / ±0.08965 over 9 scenes)
Rank (per category): 45 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 6278.6 | — | 415.2 | 0.682 Rank: 10/51 |
0.006 Rank: 46/51 |
0.00082 (±0.00000) Rank: 49/51 |
0.00151 (±0.00000) Rank: 49/51 |
FCS | 7386.1 | — | 223.3 | 0.556 Rank: 6/51 |
0.228 Rank: 48/51 |
0.10899 (±0.00000) Rank: 45/51 |
0.14141 (±0.00000) Rank: 45/51 |
LMS | 6403.7 | — | 189.9 | 0.533 Rank: 12/51 |
0.016 Rank: 46/51 |
0.00683 (±0.00000) Rank: 48/51 |
0.00850 (±0.00000) Rank: 49/51 |
LB | 5785.4 | — | 257.0 | 0.586 Rank: 16/51 |
0.001 Rank: 46/51 |
0.00000 (±0.00000) Rank: 49/51 |
0.00000 (±0.00000) Rank: 46/51 |
MC | 6476.0 | — | 372.3 | 0.691 Rank: 7/51 |
0.028 Rank: 49/51 |
0.01058 (±0.00000) Rank: 49/51 |
0.01507 (±0.00000) Rank: 45/51 |
MR | 7403.5 | — | 244.4 | 0.640 Rank: 6/51 |
0.360 Rank: 48/51 |
0.08451 (±0.00000) Rank: 44/51 |
0.12111 (±0.00000) Rank: 44/51 |
PSM | 7260.8 | — | 137.1 | 0.538 Rank: 7/51 |
0.100 Rank: 48/51 |
0.01646 (±0.00000) Rank: 44/51 |
0.02612 (±0.00000) Rank: 45/51 |
SF | 7582.5 | — | 203.5 | 0.559 Rank: 8/51 |
0.477 Rank: 48/51 |
0.20461 (±0.00000) Rank: 45/51 |
0.27738 (±0.00000) Rank: 45/51 |
SPC | 6520.9 | — | 321.1 | 0.600 Rank: 9/51 |
0.025 Rank: 46/51 |
0.00701 (±0.00000) Rank: 44/51 |
0.01183 (±0.00000) Rank: 44/51 |
Avg | 6788.6 | — | 262.7 | 0.598 Rank: 7/51 |
0.138 Rank: 48/51 |
0.04887 (±0.00000) Rank: 45/51 |
0.06699 (±0.00000) Rank: 45/51 |
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/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.13415 over 9 scenes)
Rank (per category): 49 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 6278.6 | 416.67 | 24.59 Rank: 48/51 |
283.89 Rank: 50/51 |
1.622 Rank: 50/51 |
1.58225 Rank: 49/51 |
0.00029 (±0.00000) Rank: 50/51 |
0.00131 (±0.00000) Rank: 49/51 |
FCS | 7386.1 | 235.80 | 58.30 Rank: 48/51 |
1080.59 Rank: 50/51 |
3.573 Rank: 44/51 |
0.49193 Rank: 47/51 |
0.15329 (±0.00000) Rank: 49/51 |
0.17665 (±0.00000) Rank: 49/51 |
LMS | 6403.7 | 206.86 | 36.37 Rank: 48/51 |
311.54 Rank: 50/51 |
2.709 Rank: 47/51 |
0.86854 Rank: 47/51 |
0.00519 (±0.00000) Rank: 50/51 |
0.00700 (±0.00000) Rank: 50/51 |
LB | 5785.4 | 314.10 | 0.00 Rank: 46/51 |
0.00 Rank: 46/51 |
0.000 Rank: 46/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 46/51 |
0.00000 (±0.00000) Rank: 46/51 |
MC | 6476.0 | 363.00 | 36.94 Rank: 46/51 |
764.24 Rank: 50/51 |
2.660 Rank: 50/51 |
1.53118 Rank: 49/51 |
0.00940 (±0.00000) Rank: 47/51 |
0.01334 (±0.00000) Rank: 47/51 |
MR | 7403.5 | 245.02 | 62.02 Rank: 50/51 |
1263.28 Rank: 50/51 |
3.539 Rank: 45/51 |
0.54288 Rank: 39/51 |
0.13896 (±0.00000) Rank: 49/51 |
0.18473 (±0.00000) Rank: 48/51 |
PSM | 7260.8 | 135.88 | 47.96 Rank: 49/51 |
849.91 Rank: 50/51 |
2.865 Rank: 44/51 |
0.71318 Rank: 44/51 |
0.03402 (±0.00000) Rank: 50/51 |
0.04446 (±0.00000) Rank: 50/51 |
SF | 7582.5 | 198.91 | 74.87 Rank: 50/51 |
1528.36 Rank: 50/51 |
4.320 Rank: 36/51 |
0.39407 Rank: 49/51 |
0.37327 (±0.00000) Rank: 50/51 |
0.41881 (±0.00000) Rank: 50/51 |
SPC | 6520.9 | 334.14 | 39.20 Rank: 46/51 |
505.63 Rank: 50/51 |
2.655 Rank: 47/51 |
4.12792 Rank: 49/51 |
0.00438 (±0.00000) Rank: 48/51 |
0.00770 (±0.00000) Rank: 48/51 |
Avg | 6788.6 | 272.26 | 42.25 Rank: 50/51 |
731.94 Rank: 50/51 |
2.660 Rank: 50/51 |
1.28149 Rank: 49/51 |
0.07987 (±0.00000) Rank: 49/51 |
0.09489 (±0.00000) Rank: 49/51 |
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/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.23091 (±0.00000 over 1 run(s) / ±0.01699 over 3 scenes)
Rank (per category): 39 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | — | 87.4 | 0.134 Rank: 6/51 |
0.005 Rank: 39/51 |
0.14674 (±0.00000) Rank: 36/51 |
0.20832 (±0.00000) Rank: 36/51 |
Pond | 8000.0 | — | 92.5 | 0.171 Rank: 5/51 |
0.060 Rank: 2/51 |
0.18196 (±0.00000) Rank: 39/51 |
0.24930 (±0.00000) Rank: 39/51 |
Tree | 8000.0 | — | 49.6 | 0.146 Rank: 1/51 |
0.018 Rank: 35/51 |
0.16777 (±0.00000) Rank: 39/51 |
0.23510 (±0.00000) Rank: 39/51 |
Avg | 8000.0 | — | 76.5 | 0.150 Rank: 1/51 |
0.028 Rank: 20/51 |
0.16549 (±0.00000) Rank: 39/51 |
0.23091 (±0.00000) Rank: 39/51 |
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/c328dad9da6ab238-kis_ma_bell/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.08204 over 3 scenes)
Rank (per category): 39 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 112.37 | 71.36 Rank: 39/51 |
384.83 Rank: 40/51 |
3.102 Rank: 30/51 |
11.91678 Rank: 2/51 |
0.28538 (±0.00000) Rank: 39/51 |
0.35904 (±0.00000) Rank: 39/51 |
Pond | 8000.0 | 184.75 | 62.93 Rank: 39/51 |
556.10 Rank: 39/51 |
2.945 Rank: 19/51 |
0.39075 Rank: 2/51 |
0.15756 (±0.00000) Rank: 39/51 |
0.19557 (±0.00000) Rank: 39/51 |
Tree | 8000.0 | 68.05 | 58.68 Rank: 39/51 |
209.28 Rank: 40/51 |
2.857 Rank: 30/51 |
4.31140 Rank: 2/51 |
0.15587 (±0.00000) Rank: 39/51 |
0.17608 (±0.00000) Rank: 39/51 |
Avg | 8000.0 | 121.72 | 64.32 Rank: 39/51 |
383.40 Rank: 39/51 |
2.968 Rank: 29/51 |
5.53964 Rank: 2/51 |
0.19960 (±0.00000) Rank: 39/51 |
0.24356 (±0.00000) Rank: 39/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.00000 (±0.00000 over 1 run(s) / ±0.00000 over 17 scenes)
Rank (per category): 32 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 4334.3 | — | 99.6 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Bangkok (BGK) | 3599.8 | — | 107.9 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Barcelona (BCN) | 4610.3 | — | 63.2 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 30/51 |
Buenos Aires (BAR) | 4336.3 | — | 75.8 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Cambridge (CAM) | 3294.7 | — | 69.2 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 30/51 |
Cannes (CAN) | 3459.3 | — | 90.2 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Chicago (CHI) | 4249.8 | — | 17.9 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 31/51 |
Helsinki (HEL) | 3841.1 | — | 139.0 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Madrid (MAD) | 4049.7 | — | 39.1 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Mountain View (MTV) | 4192.5 | — | 49.0 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
New Orleans (NOR) | 3727.1 | — | 40.3 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
San Francisco (SF) | 3565.9 | — | 73.5 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Singapore (SG) | 3334.7 | — | 68.2 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Sydney (SYD) | 3714.6 | — | 55.5 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Tokyo (TOK) | 3583.7 | — | 62.5 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 30/51 |
Toronto (TOR) | 3940.2 | — | 27.1 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Zurich (ZRH) | 4461.8 | — | 77.4 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Average (Avg) | 3899.7 | — | 68.0 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 32/51 |
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/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.00000 over 17 scenes)
Rank (per category): 29 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 4334.3 | 56.16 | 13.33 Rank: 29/51 |
2.33 Rank: 30/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
BGK | 3599.8 | 67.59 | 13.33 Rank: 29/51 |
5.33 Rank: 30/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
BCN | 4610.3 | 33.74 | 13.33 Rank: 29/51 |
4.00 Rank: 29/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
BAR | 4336.3 | 38.74 | 13.33 Rank: 29/51 |
10.57 Rank: 31/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
CAM | 3294.7 | 37.46 | 13.33 Rank: 29/51 |
2.11 Rank: 29/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
CAN | 3459.3 | 44.70 | 13.33 Rank: 29/51 |
3.33 Rank: 30/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
CHI | 4249.8 | 13.94 | 20.00 Rank: 29/51 |
2.33 Rank: 30/51 |
1.333 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
HEL | 3841.1 | 96.48 | 0.00 Rank: 29/51 |
0.00 Rank: 29/51 |
0.000 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
MAD | 4049.7 | 21.98 | 13.33 Rank: 29/51 |
8.67 Rank: 31/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
MTV | 4192.5 | 34.26 | 13.33 Rank: 29/51 |
5.11 Rank: 32/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
NOR | 3727.1 | 24.84 | 13.33 Rank: 29/51 |
5.78 Rank: 33/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
SF | 3565.9 | 42.57 | 13.33 Rank: 29/51 |
6.53 Rank: 33/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
SG | 3334.7 | 39.38 | 13.33 Rank: 29/51 |
7.92 Rank: 31/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
SYD | 3714.6 | 28.56 | 13.33 Rank: 29/51 |
6.25 Rank: 31/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
TOK | 3583.7 | 36.40 | 0.00 Rank: 33/51 |
0.00 Rank: 33/51 |
0.000 Rank: 33/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
TOR | 3940.2 | 14.32 | 13.33 Rank: 31/51 |
6.67 Rank: 29/51 |
0.667 Rank: 31/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
ZRH | 4461.8 | 40.97 | 13.33 Rank: 29/51 |
4.67 Rank: 30/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Avg | 3899.7 | 39.53 | 12.16 Rank: 29/51 |
4.80 Rank: 31/51 |
0.627 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
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/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c328dad9da6ab238-kis_ma_bell/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)