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7Scenes

Benchmarks

Task NameDataset NameSOTA ResultTrend
Visual Localization7Scenes (test)
Chess Median Angular Error (°)0.12
61
Visual Localization7scenes indoor
Positional Error (Chess, cm)1
30
Camera Pose Regression7Scenes
Median Position Error (m)0.03
26
Camera Pose Regression7Scenes Stairs
Median Position Error (m)0.04
26
Camera Pose Regression7Scenes Kitchen
Median Position Error (m)0.03
26
Camera Pose Regression7Scenes Pumpkin
Median Position Error (m)0.04
26
Camera Pose Regression7Scenes (Office)
Median Position Error (m)0.03
26
Camera Pose Regression7Scenes Heads
Median Position Error (m)0.01
26
Camera Pose Regression7Scenes Fire
Median Position Error (m)0.02
26
Visual Localization7Scenes Stairs
Median Translation Error (cm)1.03
25
Visual Localization7Scenes RedKitchen
Median Translation Error (cm)0.49
25
Visual Localization7Scenes Pumpkin
Median Translation Error (cm)0.7
25
Visual Localization7Scenes Office
Median Translation Error (cm)0.59
25
Visual Localization7Scenes Heads
Median Translation Error (cm)0.29
25
Visual Localization7Scenes Fire
Median Translation Error (cm)0.44
25
Visual Localization7Scenes Chess
Median Translation Error (cm)0.28
25
Camera Pose Estimation7Scenes (test)
Chess Error0.033
16
Visual Localization7Scenes
Median Translation Error (cm) - Chess0.5
13
Indoor Relocalization7Scenes D-SLAM poses
Success Rate (5cm/5deg)84
11
Camera Pose Estimation7Scenes
Chess Translational Error (cm)0.3
10
Indoor Relocalization7Scenes SfM poses
Success Rate (5cm, 5°)98.5
9
Tracking and Mapping7Scenes
ATE0.043
8
Camera Relocalization7Scenes
Translation Error (Chess Scene)0.5
7
Visual Localization7Scenes Pinhole (unseen environments)
Translation Error (m)0.4
7
Metric Depth Estimation7Scenes
AbsRel0.183
4
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