Submission ID: ciffa4wz
Example: Upright SIFT (OpenCV), 8k features
Processed: 2021-05-10. Download link: ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac.json
This page ranks the submission against all others using the same number of keypoints, regardless of descriptor size. Please hover over table headers for descriptions on metrics and full scene names.
- Phototourism dataset: Stereo track / Multiview track
- Prague Parks dataset: Stereo track / Multiview track
- Google Urban dataset: Stereo track / Multiview track
Metadata
- Authors: (contact)
- Keypoint: sift-def
- Descriptor: rootsift-upright (128 float32: 512 bytes)
- Number of features: 8000
- Summary: SIFT with 8000 features, using the built-in matcher (bidirectional filter with the both strategy, optimal inlier and ratio test thresholds) with DEGENSAC, and setting keypoint orientation to a constant value to increase performance.
- Paper: N/A
- Website: https://opencv.org
- Processing date: 2021-05-10
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.46173 (±0.00000 over 1 run(s) / ±0.12984 over 9 scenes)
Rank (per category): 38 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 3130.8 | 258.6 | 180.4 | 0.450 Rank: 50/51 |
0.962 Rank: 2/51 |
0.21197 (±0.00000) Rank: 31/51 |
0.33652 (±0.00000) Rank: 31/51 |
FCS | 6447.4 | 469.6 | 337.9 | 0.418 Rank: 50/51 |
0.901 Rank: 18/51 |
0.57777 (±0.00000) Rank: 31/51 |
0.69310 (±0.00000) Rank: 32/51 |
LMS | 1067.8 | 107.4 | 71.7 | 0.360 Rank: 44/51 |
0.700 Rank: 14/51 |
0.38350 (±0.00000) Rank: 40/51 |
0.50275 (±0.00000) Rank: 40/51 |
LB | 3028.0 | 196.0 | 122.0 | 0.367 Rank: 50/51 |
0.721 Rank: 27/51 |
0.35736 (±0.00000) Rank: 31/51 |
0.44272 (±0.00000) Rank: 38/51 |
MC | 4610.4 | 360.7 | 260.2 | 0.446 Rank: 50/51 |
0.968 Rank: 3/51 |
0.37166 (±0.00000) Rank: 31/51 |
0.51889 (±0.00000) Rank: 33/51 |
MR | 4695.2 | 443.8 | 341.5 | 0.405 Rank: 51/51 |
0.975 Rank: 4/51 |
0.31171 (±0.00000) Rank: 26/51 |
0.42119 (±0.00000) Rank: 25/51 |
PSM | 4834.1 | 168.8 | 105.2 | 0.338 Rank: 50/51 |
0.619 Rank: 37/51 |
0.11405 (±0.00000) Rank: 37/51 |
0.20299 (±0.00000) Rank: 38/51 |
SF | 5954.8 | 591.4 | 422.2 | 0.429 Rank: 41/51 |
0.827 Rank: 26/51 |
0.43007 (±0.00000) Rank: 36/51 |
0.55132 (±0.00000) Rank: 36/51 |
SPC | 4349.3 | 246.9 | 152.3 | 0.400 Rank: 50/51 |
0.822 Rank: 28/51 |
0.35811 (±0.00000) Rank: 40/51 |
0.48608 (±0.00000) Rank: 40/51 |
Avg | 4235.3 | 315.9 | 221.5 | 0.401 Rank: 50/51 |
0.833 Rank: 22/51 |
0.34624 (±0.00000) Rank: 38/51 |
0.46173 (±0.00000) Rank: 38/51 |
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/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14363 over 9 scenes)
Rank (per category): 39 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 3130.8 | 260.09 | 99.08 Rank: 45/51 |
1448.04 Rank: 43/51 |
4.848 Rank: 31/51 |
0.62135 Rank: 45/51 |
0.35088 (±0.00000) Rank: 45/51 |
0.49050 (±0.00000) Rank: 45/51 |
FCS | 6447.4 | 494.02 | 96.73 Rank: 32/51 |
4216.28 Rank: 32/51 |
4.295 Rank: 34/51 |
0.26440 Rank: 25/51 |
0.69512 (±0.00000) Rank: 31/51 |
0.76649 (±0.00000) Rank: 32/51 |
LMS | 1067.8 | 117.75 | 96.70 Rank: 43/51 |
826.10 Rank: 44/51 |
4.513 Rank: 29/51 |
0.31656 Rank: 26/51 |
0.72351 (±0.00000) Rank: 43/51 |
0.80789 (±0.00000) Rank: 39/51 |
LB | 3028.0 | 242.01 | 96.66 Rank: 42/51 |
1705.85 Rank: 42/51 |
4.322 Rank: 38/51 |
0.53485 Rank: 43/51 |
0.53118 (±0.00000) Rank: 44/51 |
0.63574 (±0.00000) Rank: 45/51 |
MC | 4610.4 | 349.17 | 99.87 Rank: 23/51 |
2773.57 Rank: 41/51 |
4.410 Rank: 40/51 |
0.40835 Rank: 39/51 |
0.50051 (±0.00000) Rank: 39/51 |
0.64674 (±0.00000) Rank: 39/51 |
MR | 4695.2 | 444.48 | 94.00 Rank: 33/51 |
3652.77 Rank: 36/51 |
4.127 Rank: 37/51 |
0.57839 Rank: 45/51 |
0.39301 (±0.00000) Rank: 37/51 |
0.50586 (±0.00000) Rank: 37/51 |
PSM | 4834.1 | 163.83 | 86.63 Rank: 37/51 |
2067.59 Rank: 48/51 |
3.105 Rank: 40/51 |
0.64925 Rank: 39/51 |
0.27670 (±0.00000) Rank: 40/51 |
0.35244 (±0.00000) Rank: 40/51 |
SF | 5954.8 | 584.63 | 95.67 Rank: 37/51 |
5315.32 Rank: 30/51 |
4.259 Rank: 39/51 |
0.32605 Rank: 31/51 |
0.67013 (±0.00000) Rank: 36/51 |
0.75696 (±0.00000) Rank: 35/51 |
SPC | 4349.3 | 252.80 | 95.79 Rank: 41/51 |
2320.63 Rank: 43/51 |
4.126 Rank: 38/51 |
0.50671 Rank: 31/51 |
0.61549 (±0.00000) Rank: 40/51 |
0.71395 (±0.00000) Rank: 39/51 |
Avg | 4235.3 | 323.20 | 95.68 Rank: 37/51 |
2702.91 Rank: 41/51 |
4.223 Rank: 38/51 |
0.46732 Rank: 40/51 |
0.52850 (±0.00000) Rank: 43/51 |
0.63073 (±0.00000) Rank: 39/51 |
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/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.53140 (±0.00000 over 1 run(s) / ±0.04655 over 3 scenes)
Rank (per category): 31 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 7995.3 | 573.1 | 456.4 | 0.145 Rank: 1/51 |
0.010 Rank: 21/51 |
0.36560 (±0.00000) Rank: 28/51 |
0.47406 (±0.00000) Rank: 29/51 |
Pond | 7961.0 | 750.3 | 541.2 | 0.164 Rank: 13/51 |
0.055 Rank: 13/51 |
0.42044 (±0.00000) Rank: 29/51 |
0.53206 (±0.00000) Rank: 29/51 |
Tree | 7888.8 | 485.1 | 318.7 | 0.129 Rank: 16/51 |
0.019 Rank: 28/51 |
0.50464 (±0.00000) Rank: 28/51 |
0.58808 (±0.00000) Rank: 30/51 |
Avg | 7948.4 | 602.8 | 438.8 | 0.146 Rank: 13/51 |
0.028 Rank: 13/51 |
0.43023 (±0.00000) Rank: 29/51 |
0.53140 (±0.00000) Rank: 31/51 |
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/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14399 over 3 scenes)
Rank (per category): 15 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 7995.3 | 454.48 | 81.37 Rank: 35/51 |
1324.83 Rank: 30/51 |
3.196 Rank: 28/51 |
13.21633 Rank: 4/51 |
0.56200 (±0.00000) Rank: 17/51 |
0.62680 (±0.00000) Rank: 21/51 |
Pond | 7961.0 | 800.40 | 66.80 Rank: 35/51 |
1600.82 Rank: 29/51 |
2.798 Rank: 30/51 |
0.40621 Rank: 5/51 |
0.24693 (±0.00000) Rank: 31/51 |
0.28264 (±0.00000) Rank: 29/51 |
Tree | 7888.8 | 448.03 | 71.67 Rank: 17/51 |
959.94 Rank: 30/51 |
2.944 Rank: 20/51 |
5.76963 Rank: 10/51 |
0.47622 (±0.00000) Rank: 7/51 |
0.52152 (±0.00000) Rank: 3/51 |
Avg | 7948.4 | 567.64 | 73.28 Rank: 34/51 |
1295.20 Rank: 30/51 |
2.980 Rank: 28/51 |
6.46406 Rank: 4/51 |
0.42839 (±0.00000) Rank: 13/51 |
0.47699 (±0.00000) Rank: 15/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.25922 (±0.00000 over 1 run(s) / ±0.12157 over 17 scenes)
Rank (per category): 25 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 1994.1 | 167.6 | 104.2 | 0.12857 (±0.00000) Rank: 26/51 |
0.24330 (±0.00000) Rank: 26/51 |
Bangkok (BGK) | 1603.2 | 145.3 | 85.0 | 0.04119 (±0.00000) Rank: 24/51 |
0.12184 (±0.00000) Rank: 25/51 |
Barcelona (BCN) | 1821.4 | 130.1 | 81.0 | 0.09304 (±0.00000) Rank: 22/51 |
0.16154 (±0.00000) Rank: 23/51 |
Buenos Aires (BAR) | 2040.9 | 170.6 | 98.8 | 0.12694 (±0.00000) Rank: 26/51 |
0.21644 (±0.00000) Rank: 26/51 |
Cambridge (CAM) | 1290.4 | 100.2 | 53.3 | 0.22123 (±0.00000) Rank: 26/51 |
0.33904 (±0.00000) Rank: 19/51 |
Cannes (CAN) | 1219.3 | 129.4 | 77.0 | 0.31521 (±0.00000) Rank: 22/51 |
0.40046 (±0.00000) Rank: 23/51 |
Chicago (CHI) | 1453.1 | 62.2 | 24.6 | 0.08115 (±0.00000) Rank: 19/51 |
0.13682 (±0.00000) Rank: 19/51 |
Helsinki (HEL) | 1781.5 | 207.6 | 127.2 | 0.31392 (±0.00000) Rank: 23/51 |
0.51289 (±0.00000) Rank: 22/51 |
Madrid (MAD) | 2017.7 | 120.1 | 55.2 | 0.04498 (±0.00000) Rank: 24/51 |
0.10182 (±0.00000) Rank: 24/51 |
Mountain View (MTV) | 1630.9 | 91.0 | 39.5 | 0.11445 (±0.00000) Rank: 23/51 |
0.18867 (±0.00000) Rank: 25/51 |
New Orleans (NOR) | 1694.7 | 115.3 | 58.2 | 0.16686 (±0.00000) Rank: 25/51 |
0.22485 (±0.00000) Rank: 25/51 |
San Francisco (SF) | 1580.9 | 117.7 | 66.3 | 0.06929 (±0.00000) Rank: 25/51 |
0.17192 (±0.00000) Rank: 24/51 |
Singapore (SG) | 1665.1 | 141.2 | 74.3 | 0.22342 (±0.00000) Rank: 19/51 |
0.31076 (±0.00000) Rank: 21/51 |
Sydney (SYD) | 1869.1 | 134.1 | 65.1 | 0.19738 (±0.00000) Rank: 26/51 |
0.30437 (±0.00000) Rank: 25/51 |
Tokyo (TOK) | 1574.9 | 154.4 | 79.6 | 0.37451 (±0.00000) Rank: 23/51 |
0.51495 (±0.00000) Rank: 22/51 |
Toronto (TOR) | 1867.8 | 101.6 | 40.3 | 0.08240 (±0.00000) Rank: 27/51 |
0.18080 (±0.00000) Rank: 26/51 |
Zurich (ZRH) | 1848.8 | 155.5 | 97.8 | 0.21237 (±0.00000) Rank: 22/51 |
0.27629 (±0.00000) Rank: 23/51 |
Average (Avg) | 1703.2 | 132.0 | 72.2 | 0.16511 (±0.00000) Rank: 24/51 |
0.25922 (±0.00000) Rank: 25/51 |
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/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.08283 over 17 scenes)
Rank (per category): 28 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 1994.1 | 73.77 | 50.71 Rank: 28/51 |
326.40 Rank: 28/51 |
2.892 Rank: 27/51 |
6.94109 Rank: 1/51 |
0.02253 (±0.00000) Rank: 28/51 |
0.04422 (±0.00000) Rank: 28/51 |
BGK | 1603.2 | 67.89 | 81.42 Rank: 28/51 |
629.74 Rank: 28/51 |
3.306 Rank: 22/51 |
9.08912 Rank: 1/51 |
0.01813 (±0.00000) Rank: 24/51 |
0.05247 (±0.00000) Rank: 25/51 |
BCN | 1821.4 | 57.02 | 59.83 Rank: 28/51 |
333.10 Rank: 28/51 |
3.019 Rank: 26/51 |
17.77140 Rank: 1/51 |
0.03047 (±0.00000) Rank: 28/51 |
0.05350 (±0.00000) Rank: 28/51 |
BAR | 2040.9 | 71.07 | 48.32 Rank: 28/51 |
233.67 Rank: 28/51 |
2.624 Rank: 27/51 |
4.94063 Rank: 1/51 |
0.00057 (±0.00000) Rank: 28/51 |
0.00311 (±0.00000) Rank: 28/51 |
CAM | 1290.4 | 41.32 | 44.12 Rank: 28/51 |
153.05 Rank: 28/51 |
2.713 Rank: 26/51 |
5.84526 Rank: 1/51 |
0.00794 (±0.00000) Rank: 28/51 |
0.01496 (±0.00000) Rank: 28/51 |
CAN | 1219.3 | 56.27 | 45.77 Rank: 28/51 |
163.83 Rank: 28/51 |
2.858 Rank: 22/51 |
5.61758 Rank: 1/51 |
0.00675 (±0.00000) Rank: 27/51 |
0.01851 (±0.00000) Rank: 27/51 |
CHI | 1453.1 | 30.30 | 39.11 Rank: 28/51 |
96.68 Rank: 28/51 |
2.697 Rank: 28/51 |
23.11980 Rank: 1/51 |
0.00113 (±0.00000) Rank: 28/51 |
0.00371 (±0.00000) Rank: 28/51 |
HEL | 1781.5 | 113.78 | 78.95 Rank: 28/51 |
908.18 Rank: 28/51 |
3.094 Rank: 25/51 |
9.14733 Rank: 1/51 |
0.18536 (±0.00000) Rank: 28/51 |
0.29516 (±0.00000) Rank: 28/51 |
MAD | 2017.7 | 50.40 | 59.92 Rank: 28/51 |
331.68 Rank: 28/51 |
2.873 Rank: 27/51 |
4.27527 Rank: 8/51 |
0.00788 (±0.00000) Rank: 28/51 |
0.02240 (±0.00000) Rank: 28/51 |
MTV | 1630.9 | 43.08 | 39.49 Rank: 28/51 |
182.04 Rank: 28/51 |
2.502 Rank: 28/51 |
2.61535 Rank: 1/51 |
0.00199 (±0.00000) Rank: 28/51 |
0.00503 (±0.00000) Rank: 28/51 |
NOR | 1694.7 | 52.00 | 38.19 Rank: 28/51 |
192.65 Rank: 28/51 |
2.540 Rank: 26/51 |
3.11124 Rank: 2/51 |
0.00252 (±0.00000) Rank: 28/51 |
0.00626 (±0.00000) Rank: 28/51 |
SF | 1580.9 | 50.68 | 38.44 Rank: 28/51 |
93.23 Rank: 28/51 |
2.519 Rank: 28/51 |
1.54766 Rank: 1/51 |
0.00053 (±0.00000) Rank: 28/51 |
0.00272 (±0.00000) Rank: 28/51 |
SG | 1665.1 | 64.72 | 49.89 Rank: 28/51 |
244.48 Rank: 28/51 |
2.905 Rank: 22/51 |
7.65799 Rank: 1/51 |
0.01764 (±0.00000) Rank: 28/51 |
0.03540 (±0.00000) Rank: 28/51 |
SYD | 1869.1 | 58.41 | 54.26 Rank: 28/51 |
230.53 Rank: 28/51 |
2.686 Rank: 27/51 |
5.52509 Rank: 1/51 |
0.02695 (±0.00000) Rank: 28/51 |
0.05126 (±0.00000) Rank: 28/51 |
TOK | 1574.9 | 72.82 | 67.02 Rank: 28/51 |
526.81 Rank: 28/51 |
3.093 Rank: 23/51 |
5.39339 Rank: 1/51 |
0.20620 (±0.00000) Rank: 28/51 |
0.25230 (±0.00000) Rank: 28/51 |
TOR | 1867.8 | 40.21 | 53.90 Rank: 27/51 |
145.47 Rank: 28/51 |
3.187 Rank: 9/51 |
6.68789 Rank: 1/51 |
0.00487 (±0.00000) Rank: 28/51 |
0.01090 (±0.00000) Rank: 28/51 |
ZRH | 1848.8 | 68.97 | 52.52 Rank: 28/51 |
430.05 Rank: 28/51 |
2.768 Rank: 26/51 |
7.47876 Rank: 1/51 |
0.01410 (±0.00000) Rank: 27/51 |
0.02857 (±0.00000) Rank: 28/51 |
Avg | 1703.2 | 59.57 | 53.05 Rank: 28/51 |
307.15 Rank: 28/51 |
2.840 Rank: 27/51 |
7.45676 Rank: 1/51 |
0.03268 (±0.00000) Rank: 28/51 |
0.05297 (±0.00000) Rank: 28/51 |
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/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/ciffa4wz6qbzkp3czhfxpc-rootsift-upright-8k-both-degensac/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)