The basic principle behind our approach is to obtain dense and accurate 3D reconstructions from large collections of images with off-the-shelf Structure from Motion (SfM), using Colmap. This provides us (pseudo-)ground truth poses and densified depth maps. We then subsample these image collections into smaller, random subsets (e.g. pairs of images for stereo, or 5 to 25 images for multiview reconstruction with SfM) and evaluate different methods against the "ground-truth".
We publish training data with images, poses, depth maps, and co-visibility estimates. We also provide a validation set in the format expected by the benchmark, to allow challenge participants to tune their methods before submission. The test set will remain private: we have published a subset of 100 images per scene, which participants can use to extract features and, optionally, matches. Please refer to the submission page for details.
The Phototourism dataset
In order to learn and evaluate models that can perform well under a wide range of situations, it is of paramount importance to collect information from multiple sensors obtained at different times, from different viewpoints, and with occlusions. A natural solution is thus to turn to photo-tourism data. In this dataset we rely on 26 photo-tourism image collections of popular landmarks originally collected by the Yahoo Flickr Creative Commons 100M (YFCC) dataset and Reconstructing the world in six days. They range from ~100s to ~1000s of images.
We provide the full data, with ground truth, for 16 scenes, which can be optionally used for training. We format 3 of them (Reichstag, Sacre Coeur and Saint Peter's Square) for validation, and reserve 10 for testing.
We provide examples to parse the training data on the benchmark repository: please refer to this notebook for details.
|Training scene||Num. images||Num. 3D points|
|Grand Place Brussels||1083||229788|
|Hagia Sophia Interior||888||235541|
|Notre Dame Front Facade||3765||488895|
|Palace of Westminster||983||115868|
|Prague Old Town Square||2316||558600|
|Saint Peter's Square||2504||232329|
|Temple Nara Japan||904||92131|
|Test scenes||Num. images||Num. 3D points|
|Florence Cathedral Side||108||44143|
|Lincoln Memorial Statue||850||58661|
|Piazza San Marco||249||95895|
|Saint Paul's Cathedral||615||98872|