Ravens vs. Steelers Sunday Night Football: Live Score, Video and Analysis

The Baltimore Ravens and Pittsburgh Steelers have come together to form one of the most intriguing rivalries in recent NFL history.

The Ravens and Steelers met in the first week of the season, and Baltimore steamrolled through Pittsburgh to the tune of a 35-7 victory. 

The Steelers' ineptness against the Ravens led many to believe that their age had caught up to them and that the Ravens were now the kings of the AFC North.

Since then, though, the Steelers have been on a mission to prove their opening-game letdown was a fluke. The Steelers have been firing on all cylinders and are on a four-game winning streak coming into tonight's matchup.

The Steelers' recent run has allowed them to jump the Ravens in the standings, and they now sit atop the AFC North.

During the Steelers' four-game winning streak, Ben Roethlisberger has thrown for 1,154 yards, 11 touchdowns and two interceptions while completing 67 percent of his passes.

On the flip side, Joe Flacco has been playing horrible football for the Ravens. Flacco has completed just 53.8 percent of his passes this season and has put up a poor 75.4 quarterback rating. 

The Ravens offense looked terrible against the Jaguars on Monday Night Football two weeks ago. Flacco and Co. were able to muster just 154 yards of total offense en route to a surprising loss.

But QB Joe Flacco would not be denied tonight, as he found WR Torrey Smith in the end zone for the game-winning touchdown with just seconds left in tonight's game.

Final score: 23-20 Ravens