Submission ID: d3b6c626
ss-bst
Processed: 21-06-15. Download link: d3b6c626a653a845-ssadmixbst.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: yt (contact)
- Keypoint: spmadmixbst
- Descriptor: hsgmixbst (128 float32: 512 bytes)
- Number of features: 2048
- Summary:
- Paper: N/A
- Website: N/A
- Processing date: 21-06-15
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.59494 (±0.00000 over 1 run(s) / ±0.12957 over 9 scenes)
Rank (per category): 6 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2048.0 | — | 423.7 | 0.448 Rank: 61/87 |
0.892 Rank: 46/87 |
0.36001 (±0.00000) Rank: 4/87 |
0.51409 (±0.00000) Rank: 4/87 |
FCS | 2048.0 | — | 542.6 | 0.406 Rank: 39/87 |
0.869 Rank: 36/87 |
0.65905 (±0.00000) Rank: 10/87 |
0.77739 (±0.00000) Rank: 8/87 |
LMS | 2048.0 | — | 521.3 | 0.417 Rank: 38/87 |
0.678 Rank: 48/87 |
0.63078 (±0.00000) Rank: 7/87 |
0.75843 (±0.00000) Rank: 7/87 |
LB | 2048.0 | — | 401.6 | 0.392 Rank: 45/87 |
0.679 Rank: 63/87 |
0.48347 (±0.00000) Rank: 4/87 |
0.60304 (±0.00000) Rank: 28/87 |
MC | 2048.0 | — | 459.6 | 0.414 Rank: 43/87 |
0.853 Rank: 54/87 |
0.36213 (±0.00000) Rank: 4/87 |
0.52032 (±0.00000) Rank: 11/87 |
MR | 2048.0 | — | 422.4 | 0.378 Rank: 69/87 |
0.893 Rank: 43/87 |
0.28207 (±0.00000) Rank: 20/87 |
0.39978 (±0.00000) Rank: 15/87 |
PSM | 2048.0 | — | 410.8 | 0.329 Rank: 49/87 |
0.623 Rank: 18/87 |
0.26573 (±0.00000) Rank: 6/87 |
0.42958 (±0.00000) Rank: 6/87 |
SF | 2048.0 | — | 489.6 | 0.351 Rank: 60/87 |
0.781 Rank: 48/87 |
0.51900 (±0.00000) Rank: 11/87 |
0.66264 (±0.00000) Rank: 11/87 |
SPC | 2048.0 | — | 438.9 | 0.376 Rank: 54/87 |
0.795 Rank: 45/87 |
0.52794 (±0.00000) Rank: 6/87 |
0.68922 (±0.00000) Rank: 10/87 |
Avg | 2048.0 | — | 456.7 | 0.390 Rank: 55/87 |
0.785 Rank: 42/87 |
0.45446 (±0.00000) Rank: 6/87 |
0.59494 (±0.00000) Rank: 6/87 |
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/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09743 over 9 scenes)
Rank (per category): 9 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2048.0 | 424.05 | 100.00 Rank: 1/87 |
2326.53 Rank: 14/87 |
4.934 Rank: 36/87 |
0.34203 Rank: 13/87 |
0.59904 (±0.00000) Rank: 9/87 |
0.73286 (±0.00000) Rank: 13/87 |
FCS | 2048.0 | 550.97 | 98.27 Rank: 21/87 |
2795.48 Rank: 13/87 |
5.091 Rank: 25/87 |
0.24523 Rank: 30/87 |
0.74384 (±0.00000) Rank: 28/87 |
0.79893 (±0.00000) Rank: 31/87 |
LMS | 2048.0 | 545.15 | 99.28 Rank: 35/87 |
2223.62 Rank: 10/87 |
5.440 Rank: 47/87 |
0.28985 Rank: 33/87 |
0.86780 (±0.00000) Rank: 9/87 |
0.91473 (±0.00000) Rank: 11/87 |
LB | 2048.0 | 473.19 | 98.36 Rank: 1/87 |
2298.40 Rank: 5/87 |
5.191 Rank: 43/87 |
0.48732 Rank: 37/87 |
0.72959 (±0.00000) Rank: 8/87 |
0.82025 (±0.00000) Rank: 6/87 |
MC | 2048.0 | 451.60 | 100.00 Rank: 1/87 |
2438.51 Rank: 20/87 |
5.123 Rank: 37/87 |
0.32076 Rank: 6/87 |
0.56976 (±0.00000) Rank: 7/87 |
0.71344 (±0.00000) Rank: 6/87 |
MR | 2048.0 | 414.60 | 94.73 Rank: 32/87 |
2508.59 Rank: 14/87 |
4.668 Rank: 52/87 |
0.53095 Rank: 44/87 |
0.44615 (±0.00000) Rank: 12/87 |
0.57000 (±0.00000) Rank: 12/87 |
PSM | 2048.0 | 407.59 | 99.61 Rank: 14/87 |
2674.86 Rank: 22/87 |
4.569 Rank: 26/87 |
0.33997 Rank: 21/87 |
0.64390 (±0.00000) Rank: 26/87 |
0.72959 (±0.00000) Rank: 27/87 |
SF | 2048.0 | 481.77 | 99.75 Rank: 35/87 |
2908.43 Rank: 19/87 |
4.902 Rank: 43/87 |
0.28450 Rank: 35/87 |
0.77409 (±0.00000) Rank: 34/87 |
0.85422 (±0.00000) Rank: 36/87 |
SPC | 2048.0 | 449.02 | 100.00 Rank: 1/87 |
2500.68 Rank: 17/87 |
5.140 Rank: 34/87 |
0.40109 Rank: 6/87 |
0.77150 (±0.00000) Rank: 4/87 |
0.86106 (±0.00000) Rank: 3/87 |
Avg | 2048.0 | 466.44 | 98.89 Rank: 15/87 |
2519.46 Rank: 11/87 |
5.006 Rank: 40/87 |
0.36019 Rank: 13/87 |
0.68285 (±0.00000) Rank: 9/87 |
0.77723 (±0.00000) Rank: 9/87 |
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/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.74971 (±0.00000 over 1 run(s) / ±0.05507 over 3 scenes)
Rank (per category): 21 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | — | 380.5 | 0.036 Rank: 24/87 |
0.010 Rank: 27/87 |
0.57115 (±0.00000) Rank: 29/87 |
0.70236 (±0.00000) Rank: 32/87 |
Pond | 2048.0 | — | 403.0 | 0.051 Rank: 31/87 |
0.046 Rank: 46/87 |
0.59319 (±0.00000) Rank: 15/87 |
0.71984 (±0.00000) Rank: 22/87 |
Tree | 2048.0 | — | 268.7 | 0.031 Rank: 30/87 |
0.024 Rank: 33/87 |
0.72362 (±0.00000) Rank: 19/87 |
0.82693 (±0.00000) Rank: 21/87 |
Avg | 2048.0 | — | 350.8 | 0.039 Rank: 27/87 |
0.027 Rank: 44/87 |
0.62932 (±0.00000) Rank: 20/87 |
0.74971 (±0.00000) Rank: 21/87 |
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/d3b6c626a653a845-ssadmixbst/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14175 over 3 scenes)
Rank (per category): 40 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 405.18 | 85.30 Rank: 19/87 |
1229.25 Rank: 20/87 |
3.401 Rank: 24/87 |
14.23737 Rank: 43/87 |
0.57489 (±0.00000) Rank: 39/87 |
0.65909 (±0.00000) Rank: 39/87 |
Pond | 2048.0 | 437.19 | 65.97 Rank: 66/87 |
1005.04 Rank: 22/87 |
2.763 Rank: 61/87 |
0.41731 Rank: 16/87 |
0.28098 (±0.00000) Rank: 35/87 |
0.31281 (±0.00000) Rank: 35/87 |
Tree | 2048.0 | 255.28 | 71.40 Rank: 30/87 |
599.99 Rank: 14/87 |
2.984 Rank: 32/87 |
6.11335 Rank: 51/87 |
0.43104 (±0.00000) Rank: 35/87 |
0.46393 (±0.00000) Rank: 37/87 |
Avg | 2048.0 | 365.88 | 74.22 Rank: 52/87 |
944.76 Rank: 20/87 |
3.049 Rank: 50/87 |
6.92268 Rank: 46/87 |
0.42897 (±0.00000) Rank: 38/87 |
0.47861 (±0.00000) Rank: 40/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.40782 (±0.00000 over 1 run(s) / ±0.13858 over 17 scenes)
Rank (per category): 8 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | — | 288.6 | 0.23036 (±0.00000) Rank: 27/87 |
0.38527 (±0.00000) Rank: 24/87 |
Bangkok (BGK) | 2045.4 | — | 426.5 | 0.05558 (±0.00000) Rank: 33/87 |
0.16923 (±0.00000) Rank: 27/87 |
Barcelona (BCN) | 2048.0 | — | 310.2 | 0.12747 (±0.00000) Rank: 13/87 |
0.21026 (±0.00000) Rank: 20/87 |
Buenos Aires (BAR) | 2048.0 | — | 294.6 | 0.23836 (±0.00000) Rank: 27/87 |
0.39543 (±0.00000) Rank: 7/87 |
Cambridge (CAM) | 2048.0 | — | 295.2 | 0.30274 (±0.00000) Rank: 27/87 |
0.46541 (±0.00000) Rank: 15/87 |
Cannes (CAN) | 2048.0 | — | 354.8 | 0.39724 (±0.00000) Rank: 24/87 |
0.51751 (±0.00000) Rank: 23/87 |
Chicago (CHI) | 2048.0 | — | 237.6 | 0.20027 (±0.00000) Rank: 21/87 |
0.32964 (±0.00000) Rank: 25/87 |
Helsinki (HEL) | 2048.0 | — | 550.0 | 0.39381 (±0.00000) Rank: 8/87 |
0.58840 (±0.00000) Rank: 8/87 |
Madrid (MAD) | 2048.0 | — | 211.1 | 0.09058 (±0.00000) Rank: 18/87 |
0.21246 (±0.00000) Rank: 10/87 |
Mountain View (MTV) | 2048.0 | — | 268.3 | 0.25430 (±0.00000) Rank: 11/87 |
0.39941 (±0.00000) Rank: 8/87 |
New Orleans (NOR) | 2048.0 | — | 227.2 | 0.28107 (±0.00000) Rank: 23/87 |
0.38639 (±0.00000) Rank: 23/87 |
San Francisco (SF) | 2048.0 | — | 341.9 | 0.20630 (±0.00000) Rank: 18/87 |
0.35197 (±0.00000) Rank: 22/87 |
Singapore (SG) | 2048.0 | — | 274.2 | 0.34494 (±0.00000) Rank: 14/87 |
0.47057 (±0.00000) Rank: 10/87 |
Sydney (SYD) | 2048.0 | — | 327.3 | 0.36769 (±0.00000) Rank: 1/87 |
0.52009 (±0.00000) Rank: 2/87 |
Tokyo (TOK) | 2048.0 | — | 376.8 | 0.61520 (±0.00000) Rank: 7/87 |
0.74902 (±0.00000) Rank: 7/87 |
Toronto (TOR) | 2048.0 | — | 233.2 | 0.24560 (±0.00000) Rank: 1/87 |
0.40560 (±0.00000) Rank: 1/87 |
Zurich (ZRH) | 2048.0 | — | 348.4 | 0.27491 (±0.00000) Rank: 10/87 |
0.37629 (±0.00000) Rank: 12/87 |
Average (Avg) | 2047.8 | — | 315.6 | 0.27214 (±0.00000) Rank: 9/87 |
0.40782 (±0.00000) Rank: 8/87 |
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/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15250 over 17 scenes)
Rank (per category): 6 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 191.64 | 93.60 Rank: 8/87 |
1417.18 Rank: 18/87 |
3.816 Rank: 20/87 |
24.15273 Rank: 17/87 |
0.35250 (±0.00000) Rank: 20/87 |
0.47259 (±0.00000) Rank: 20/87 |
BGK | 2045.4 | 297.06 | 96.53 Rank: 26/87 |
2734.41 Rank: 7/87 |
3.603 Rank: 41/87 |
13.92196 Rank: 35/87 |
0.02723 (±0.00000) Rank: 28/87 |
0.09086 (±0.00000) Rank: 21/87 |
BCN | 2048.0 | 185.73 | 85.25 Rank: 24/87 |
1307.34 Rank: 17/87 |
3.839 Rank: 8/87 |
28.79355 Rank: 40/87 |
0.14506 (±0.00000) Rank: 14/87 |
0.22757 (±0.00000) Rank: 15/87 |
BAR | 2048.0 | 173.55 | 88.20 Rank: 11/87 |
1244.02 Rank: 19/87 |
3.470 Rank: 7/87 |
16.08025 Rank: 27/87 |
0.17861 (±0.00000) Rank: 4/87 |
0.28757 (±0.00000) Rank: 9/87 |
CAM | 2048.0 | 187.09 | 89.54 Rank: 11/87 |
1436.10 Rank: 6/87 |
3.531 Rank: 23/87 |
27.42115 Rank: 35/87 |
0.18745 (±0.00000) Rank: 17/87 |
0.28040 (±0.00000) Rank: 16/87 |
CAN | 2048.0 | 197.56 | 79.11 Rank: 20/87 |
965.59 Rank: 10/87 |
3.449 Rank: 30/87 |
24.44821 Rank: 51/87 |
0.06061 (±0.00000) Rank: 29/87 |
0.11909 (±0.00000) Rank: 27/87 |
CHI | 2048.0 | 210.58 | 90.83 Rank: 9/87 |
736.32 Rank: 5/87 |
4.959 Rank: 12/87 |
49.17817 Rank: 47/87 |
0.16387 (±0.00000) Rank: 10/87 |
0.26762 (±0.00000) Rank: 8/87 |
HEL | 2048.0 | 393.34 | 94.67 Rank: 14/87 |
2440.21 Rank: 9/87 |
4.075 Rank: 11/87 |
13.76642 Rank: 21/87 |
0.36140 (±0.00000) Rank: 11/87 |
0.50102 (±0.00000) Rank: 10/87 |
MAD | 2048.0 | 136.39 | 91.43 Rank: 13/87 |
1505.91 Rank: 13/87 |
3.307 Rank: 17/87 |
9.02616 Rank: 52/87 |
0.10266 (±0.00000) Rank: 14/87 |
0.21528 (±0.00000) Rank: 13/87 |
MTV | 2048.0 | 195.04 | 92.81 Rank: 12/87 |
1615.80 Rank: 4/87 |
3.834 Rank: 16/87 |
16.94343 Rank: 32/87 |
0.29679 (±0.00000) Rank: 11/87 |
0.42037 (±0.00000) Rank: 18/87 |
NOR | 2048.0 | 147.76 | 88.85 Rank: 13/87 |
1359.95 Rank: 6/87 |
3.396 Rank: 19/87 |
12.96936 Rank: 27/87 |
0.31564 (±0.00000) Rank: 5/87 |
0.41711 (±0.00000) Rank: 5/87 |
SF | 2048.0 | 226.56 | 95.87 Rank: 20/87 |
1824.22 Rank: 4/87 |
3.792 Rank: 9/87 |
20.28660 Rank: 29/87 |
0.29473 (±0.00000) Rank: 14/87 |
0.43757 (±0.00000) Rank: 17/87 |
SG | 2048.0 | 170.80 | 75.18 Rank: 29/87 |
1181.07 Rank: 18/87 |
3.253 Rank: 33/87 |
18.92578 Rank: 42/87 |
0.24744 (±0.00000) Rank: 11/87 |
0.31355 (±0.00000) Rank: 16/87 |
SYD | 2048.0 | 203.43 | 87.46 Rank: 28/87 |
1573.56 Rank: 16/87 |
3.625 Rank: 11/87 |
24.01547 Rank: 48/87 |
0.29685 (±0.00000) Rank: 19/87 |
0.38547 (±0.00000) Rank: 23/87 |
TOK | 2048.0 | 237.28 | 92.67 Rank: 27/87 |
2157.15 Rank: 9/87 |
3.767 Rank: 17/87 |
14.38499 Rank: 26/87 |
0.68222 (±0.00000) Rank: 3/87 |
0.74791 (±0.00000) Rank: 11/87 |
TOR | 2048.0 | 147.01 | 88.40 Rank: 24/87 |
1474.09 Rank: 14/87 |
3.242 Rank: 19/87 |
16.52826 Rank: 20/87 |
0.21222 (±0.00000) Rank: 8/87 |
0.34760 (±0.00000) Rank: 7/87 |
ZRH | 2048.0 | 217.36 | 92.46 Rank: 2/87 |
1983.18 Rank: 2/87 |
3.520 Rank: 7/87 |
22.46134 Rank: 45/87 |
0.16135 (±0.00000) Rank: 2/87 |
0.23951 (±0.00000) Rank: 2/87 |
Avg | 2047.8 | 206.95 | 89.58 Rank: 18/87 |
1585.65 Rank: 4/87 |
3.675 Rank: 15/87 |
20.78258 Rank: 47/87 |
0.24039 (±0.00000) Rank: 4/87 |
0.33948 (±0.00000) Rank: 6/87 |
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/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d3b6c626a653a845-ssadmixbst/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)