Submission ID: f0fd9a94
contextdesc8k_s
Processed: 21-06-03. Download link: f0fd9a94104a8491-contextdesc8k_s.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: Hongkai Chen (contact)
- Keypoint: cv2dog
- Descriptor: contextdesc8k (128 float32: 512 bytes)
- Number of features: 8000
- Summary: contextdesc8k_s
- Paper: N/A
- Website: N/A
- Processing date: 21-06-03
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.54184 (±0.00000 over 1 run(s) / ±0.15195 over 9 scenes)
Rank (per category): 25 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 7963.7 | — | 1195.1 | 0.517 Rank: 42/51 |
0.870 Rank: 42/51 |
0.15286 (±0.00000) Rank: 39/51 |
0.26033 (±0.00000) Rank: 38/51 |
FCS | 7838.6 | — | 1455.0 | 0.463 Rank: 32/51 |
0.861 Rank: 37/51 |
0.64552 (±0.00000) Rank: 18/51 |
0.76183 (±0.00000) Rank: 19/51 |
LMS | 7720.8 | — | 772.8 | 0.468 Rank: 24/51 |
0.649 Rank: 37/51 |
0.51177 (±0.00000) Rank: 29/51 |
0.61754 (±0.00000) Rank: 29/51 |
LB | 7947.2 | — | 833.1 | 0.493 Rank: 31/51 |
0.693 Rank: 39/51 |
0.45640 (±0.00000) Rank: 39/51 |
0.56903 (±0.00000) Rank: 25/51 |
MC | 7790.4 | — | 1421.1 | 0.551 Rank: 38/51 |
0.853 Rank: 40/51 |
0.38006 (±0.00000) Rank: 39/51 |
0.53495 (±0.00000) Rank: 30/51 |
MR | 7772.2 | — | 1327.7 | 0.479 Rank: 38/51 |
0.872 Rank: 41/51 |
0.31958 (±0.00000) Rank: 22/51 |
0.42922 (±0.00000) Rank: 24/51 |
PSM | 7776.7 | — | 1075.7 | 0.406 Rank: 39/51 |
0.705 Rank: 12/51 |
0.22233 (±0.00000) Rank: 10/51 |
0.37561 (±0.00000) Rank: 10/51 |
SF | 7865.5 | — | 1678.7 | 0.498 Rank: 29/51 |
0.790 Rank: 36/51 |
0.58073 (±0.00000) Rank: 2/51 |
0.70561 (±0.00000) Rank: 3/51 |
SPC | 7858.0 | — | 1328.7 | 0.501 Rank: 34/51 |
0.771 Rank: 40/51 |
0.45358 (±0.00000) Rank: 25/51 |
0.62244 (±0.00000) Rank: 23/51 |
Avg | 7837.0 | — | 1232.0 | 0.486 Rank: 36/51 |
0.785 Rank: 40/51 |
0.41365 (±0.00000) Rank: 25/51 |
0.54184 (±0.00000) Rank: 25/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, 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/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10521 over 9 scenes)
Rank (per category): 16 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 7963.7 | 1190.37 | 99.81 Rank: 22/51 |
6113.91 Rank: 11/51 |
5.155 Rank: 21/51 |
0.51599 Rank: 37/51 |
0.41568 (±0.00000) Rank: 42/51 |
0.57218 (±0.00000) Rank: 41/51 |
FCS | 7838.6 | 1499.64 | 99.15 Rank: 3/51 |
8863.67 Rank: 8/51 |
4.946 Rank: 14/51 |
0.22004 Rank: 7/51 |
0.77631 (±0.00000) Rank: 4/51 |
0.83530 (±0.00000) Rank: 4/51 |
LMS | 7720.8 | 823.67 | 99.13 Rank: 27/51 |
6253.56 Rank: 8/51 |
4.585 Rank: 28/51 |
0.29962 Rank: 17/51 |
0.80475 (±0.00000) Rank: 25/51 |
0.85643 (±0.00000) Rank: 30/51 |
LB | 7947.2 | 988.23 | 98.36 Rank: 1/51 |
5734.61 Rank: 10/51 |
4.994 Rank: 21/51 |
0.48453 Rank: 25/51 |
0.70743 (±0.00000) Rank: 21/51 |
0.80268 (±0.00000) Rank: 18/51 |
MC | 7790.4 | 1406.56 | 100.00 Rank: 1/51 |
7235.43 Rank: 9/51 |
5.375 Rank: 17/51 |
0.35645 Rank: 23/51 |
0.53353 (±0.00000) Rank: 25/51 |
0.68713 (±0.00000) Rank: 23/51 |
MR | 7772.2 | 1323.38 | 94.87 Rank: 23/51 |
8338.99 Rank: 7/51 |
4.629 Rank: 24/51 |
0.47255 Rank: 12/51 |
0.48219 (±0.00000) Rank: 6/51 |
0.59688 (±0.00000) Rank: 8/51 |
PSM | 7776.7 | 1074.17 | 99.69 Rank: 7/51 |
8831.91 Rank: 8/51 |
4.356 Rank: 12/51 |
0.31140 Rank: 4/51 |
0.65276 (±0.00000) Rank: 7/51 |
0.73307 (±0.00000) Rank: 8/51 |
SF | 7865.5 | 1648.67 | 99.75 Rank: 11/51 |
9761.74 Rank: 6/51 |
5.062 Rank: 14/51 |
0.29008 Rank: 12/51 |
0.79381 (±0.00000) Rank: 3/51 |
0.86898 (±0.00000) Rank: 6/51 |
SPC | 7858.0 | 1379.39 | 99.87 Rank: 20/51 |
7946.91 Rank: 8/51 |
5.122 Rank: 17/51 |
0.38497 Rank: 3/51 |
0.71739 (±0.00000) Rank: 19/51 |
0.81951 (±0.00000) Rank: 21/51 |
Avg | 7837.0 | 1259.34 | 98.96 Rank: 9/51 |
7675.64 Rank: 10/51 |
4.914 Rank: 19/51 |
0.37062 Rank: 9/51 |
0.65376 (±0.00000) Rank: 17/51 |
0.75246 (±0.00000) Rank: 16/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.65758 (±0.00000 over 1 run(s) / ±0.05578 over 3 scenes)
Rank (per category): 19 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | — | 913.9 | 0.145 Rank: 2/51 |
0.011 Rank: 15/51 |
0.43551 (±0.00000) Rank: 20/51 |
0.58738 (±0.00000) Rank: 19/51 |
Pond | 8000.0 | — | 952.2 | 0.171 Rank: 2/51 |
0.054 Rank: 17/51 |
0.50942 (±0.00000) Rank: 21/51 |
0.66152 (±0.00000) Rank: 20/51 |
Tree | 8000.0 | — | 668.4 | 0.126 Rank: 18/51 |
0.020 Rank: 17/51 |
0.60309 (±0.00000) Rank: 20/51 |
0.72384 (±0.00000) Rank: 20/51 |
Avg | 8000.0 | — | 844.8 | 0.147 Rank: 11/51 |
0.029 Rank: 6/51 |
0.51601 (±0.00000) Rank: 20/51 |
0.65758 (±0.00000) Rank: 19/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15831 over 3 scenes)
Rank (per category): 17 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 960.10 | 85.30 Rank: 4/51 |
3308.37 Rank: 8/51 |
3.295 Rank: 21/51 |
14.19046 Rank: 28/51 |
0.59131 (±0.00000) Rank: 4/51 |
0.67317 (±0.00000) Rank: 4/51 |
Pond | 8000.0 | 1072.85 | 66.67 Rank: 36/51 |
2719.45 Rank: 15/51 |
2.931 Rank: 20/51 |
0.43318 Rank: 25/51 |
0.26247 (±0.00000) Rank: 25/51 |
0.28656 (±0.00000) Rank: 26/51 |
Tree | 8000.0 | 717.36 | 73.47 Rank: 7/51 |
2041.53 Rank: 9/51 |
3.037 Rank: 10/51 |
6.57157 Rank: 40/51 |
0.41718 (±0.00000) Rank: 28/51 |
0.45391 (±0.00000) Rank: 28/51 |
Avg | 8000.0 | 916.77 | 75.15 Rank: 19/51 |
2689.78 Rank: 11/51 |
3.088 Rank: 20/51 |
7.06507 Rank: 38/51 |
0.42365 (±0.00000) Rank: 18/51 |
0.47121 (±0.00000) Rank: 17/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.26595 (±0.00000 over 1 run(s) / ±0.10652 over 17 scenes)
Rank (per category): 24 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 5218.5 | — | 392.1 | 0.15089 (±0.00000) Rank: 23/51 |
0.28080 (±0.00000) Rank: 23/51 |
Bangkok (BGK) | 5463.6 | — | 457.8 | 0.05062 (±0.00000) Rank: 22/51 |
0.16303 (±0.00000) Rank: 18/51 |
Barcelona (BCN) | 4732.5 | — | 223.0 | 0.06593 (±0.00000) Rank: 25/51 |
0.11465 (±0.00000) Rank: 25/51 |
Buenos Aires (BAR) | 5610.5 | — | 347.3 | 0.14247 (±0.00000) Rank: 23/51 |
0.27489 (±0.00000) Rank: 22/51 |
Cambridge (CAM) | 5251.5 | — | 292.4 | 0.18014 (±0.00000) Rank: 23/51 |
0.31301 (±0.00000) Rank: 23/51 |
Cannes (CAN) | 5012.8 | — | 272.8 | 0.28848 (±0.00000) Rank: 25/51 |
0.38756 (±0.00000) Rank: 25/51 |
Chicago (CHI) | 4752.7 | — | 111.2 | 0.04768 (±0.00000) Rank: 26/51 |
0.09324 (±0.00000) Rank: 26/51 |
Helsinki (HEL) | 5821.0 | — | 571.9 | 0.25567 (±0.00000) Rank: 25/51 |
0.42990 (±0.00000) Rank: 25/51 |
Madrid (MAD) | 6070.5 | — | 351.1 | 0.06565 (±0.00000) Rank: 14/51 |
0.14954 (±0.00000) Rank: 16/51 |
Mountain View (MTV) | 5350.8 | — | 260.4 | 0.10938 (±0.00000) Rank: 25/51 |
0.20820 (±0.00000) Rank: 23/51 |
New Orleans (NOR) | 5305.7 | — | 230.3 | 0.17278 (±0.00000) Rank: 24/51 |
0.24882 (±0.00000) Rank: 21/51 |
San Francisco (SF) | 5385.9 | — | 316.5 | 0.10971 (±0.00000) Rank: 21/51 |
0.22100 (±0.00000) Rank: 20/51 |
Singapore (SG) | 6335.4 | — | 298.7 | 0.15443 (±0.00000) Rank: 26/51 |
0.25696 (±0.00000) Rank: 25/51 |
Sydney (SYD) | 5721.7 | — | 301.6 | 0.21921 (±0.00000) Rank: 22/51 |
0.33624 (±0.00000) Rank: 20/51 |
Tokyo (TOK) | 5738.5 | — | 418.1 | 0.35980 (±0.00000) Rank: 25/51 |
0.51176 (±0.00000) Rank: 24/51 |
Toronto (TOR) | 6215.6 | — | 240.7 | 0.12960 (±0.00000) Rank: 21/51 |
0.24640 (±0.00000) Rank: 21/51 |
Zurich (ZRH) | 5114.5 | — | 390.5 | 0.19244 (±0.00000) Rank: 26/51 |
0.28522 (±0.00000) Rank: 21/51 |
Average (Avg) | 5476.6 | — | 322.1 | 0.15852 (±0.00000) Rank: 25/51 |
0.26595 (±0.00000) Rank: 24/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12763 over 17 scenes)
Rank (per category): 11 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 5218.5 | 240.26 | 89.24 Rank: 11/51 |
2561.92 Rank: 11/51 |
3.415 Rank: 18/51 |
24.67989 Rank: 20/51 |
0.26485 (±0.00000) Rank: 14/51 |
0.39287 (±0.00000) Rank: 12/51 |
BGK | 5463.6 | 313.72 | 96.40 Rank: 11/51 |
3525.27 Rank: 12/51 |
3.333 Rank: 20/51 |
11.70816 Rank: 6/51 |
0.02408 (±0.00000) Rank: 13/51 |
0.07911 (±0.00000) Rank: 13/51 |
BCN | 4732.5 | 133.57 | 80.53 Rank: 13/51 |
1141.52 Rank: 15/51 |
3.307 Rank: 21/51 |
23.00720 Rank: 5/51 |
0.08084 (±0.00000) Rank: 21/51 |
0.13565 (±0.00000) Rank: 22/51 |
BAR | 5610.5 | 182.67 | 79.84 Rank: 11/51 |
1485.40 Rank: 12/51 |
3.058 Rank: 18/51 |
14.33272 Rank: 17/51 |
0.10013 (±0.00000) Rank: 14/51 |
0.17004 (±0.00000) Rank: 14/51 |
CAM | 5251.5 | 170.54 | 83.67 Rank: 11/51 |
1798.55 Rank: 11/51 |
3.092 Rank: 18/51 |
24.40179 Rank: 16/51 |
0.16356 (±0.00000) Rank: 11/51 |
0.23907 (±0.00000) Rank: 11/51 |
CAN | 5012.8 | 142.36 | 61.50 Rank: 19/51 |
616.31 Rank: 16/51 |
3.096 Rank: 19/51 |
9.63613 Rank: 6/51 |
0.02923 (±0.00000) Rank: 17/51 |
0.06461 (±0.00000) Rank: 17/51 |
CHI | 4752.7 | 99.29 | 79.68 Rank: 18/51 |
499.05 Rank: 15/51 |
3.449 Rank: 19/51 |
40.27399 Rank: 7/51 |
0.01659 (±0.00000) Rank: 22/51 |
0.04680 (±0.00000) Rank: 20/51 |
HEL | 5821.0 | 400.55 | 91.01 Rank: 17/51 |
3954.29 Rank: 10/51 |
3.326 Rank: 13/51 |
12.35263 Rank: 10/51 |
0.27889 (±0.00000) Rank: 14/51 |
0.41070 (±0.00000) Rank: 18/51 |
MAD | 6070.5 | 218.23 | 89.16 Rank: 10/51 |
2675.53 Rank: 8/51 |
3.197 Rank: 15/51 |
5.97097 Rank: 20/51 |
0.07696 (±0.00000) Rank: 8/51 |
0.16420 (±0.00000) Rank: 7/51 |
MTV | 5350.8 | 182.72 | 88.46 Rank: 11/51 |
1986.31 Rank: 10/51 |
3.441 Rank: 14/51 |
15.17903 Rank: 19/51 |
0.15287 (±0.00000) Rank: 16/51 |
0.25992 (±0.00000) Rank: 15/51 |
NOR | 5305.7 | 151.48 | 75.69 Rank: 11/51 |
1166.42 Rank: 12/51 |
2.977 Rank: 16/51 |
10.61717 Rank: 18/51 |
0.13370 (±0.00000) Rank: 11/51 |
0.19751 (±0.00000) Rank: 11/51 |
SF | 5385.9 | 182.95 | 88.59 Rank: 11/51 |
1878.71 Rank: 12/51 |
3.201 Rank: 17/51 |
17.13710 Rank: 18/51 |
0.18229 (±0.00000) Rank: 11/51 |
0.29989 (±0.00000) Rank: 11/51 |
SG | 6335.4 | 181.44 | 74.40 Rank: 10/51 |
1460.65 Rank: 11/51 |
3.002 Rank: 20/51 |
16.62257 Rank: 18/51 |
0.11687 (±0.00000) Rank: 14/51 |
0.18043 (±0.00000) Rank: 11/51 |
SYD | 5721.7 | 174.29 | 74.65 Rank: 14/51 |
1473.66 Rank: 12/51 |
3.138 Rank: 11/51 |
12.58283 Rank: 11/51 |
0.18150 (±0.00000) Rank: 12/51 |
0.25170 (±0.00000) Rank: 12/51 |
TOK | 5738.5 | 249.76 | 89.47 Rank: 8/51 |
3202.58 Rank: 10/51 |
3.235 Rank: 20/51 |
12.82057 Rank: 18/51 |
0.46083 (±0.00000) Rank: 14/51 |
0.54086 (±0.00000) Rank: 14/51 |
TOR | 6215.6 | 146.42 | 80.72 Rank: 10/51 |
1650.25 Rank: 11/51 |
2.931 Rank: 22/51 |
14.27356 Rank: 17/51 |
0.09524 (±0.00000) Rank: 12/51 |
0.17034 (±0.00000) Rank: 13/51 |
ZRH | 5114.5 | 224.30 | 83.03 Rank: 10/51 |
2215.80 Rank: 11/51 |
3.084 Rank: 12/51 |
19.89927 Rank: 26/51 |
0.07804 (±0.00000) Rank: 13/51 |
0.13573 (±0.00000) Rank: 11/51 |
Avg | 5476.6 | 199.68 | 82.71 Rank: 11/51 |
1958.37 Rank: 12/51 |
3.193 Rank: 19/51 |
16.79386 Rank: 17/51 |
0.14332 (±0.00000) Rank: 11/51 |
0.21997 (±0.00000) Rank: 11/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/f0fd9a94104a8491-contextdesc8k_s/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)