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KITTI360

Benchmarks

Task NameDataset NameSOTA ResultTrend
Place RecognitionKITTI360-AG (road map)
Recall@142.6
21
Place RecognitionKITTI360-AG satellite
Recall@161.1
21
Text-based position localizationKITTI360 Pose (test)
Localization Recall (k=1, ε < 5m)52
21
Text-to-point cloud localizationKITTI360 Pose (val)
Recall@k=1 (5m)54
19
Point Map EstimationKITTI360
Accuracy1.097
12
Depth Map EstimationKITTI360
Relative Error (Rel)9.1
12
LocalizationKITTI360Pose (val)
Recall @ 5m83
12
Unconditional LiDAR GenerationKITTI360 (val)
FSVD35.8
11
Fine LocalizationKITTI360Pose (test)
Recall@1 (5m)0.51
10
Fine LocalizationKITTI360Pose (val)
Recall@k=1 (5m Error)54
10
Text-to-point cloud submap retrievalKITTI360Pose (val)
Recall@154
9
Beyond-FoV Scene Estimation (Outer FoV Expansion)KITTI360 seq10 (test)
PSNR20.5
9
Beyond-FoV Scene Estimation (Inner FoV Expansion)KITTI360 seq10 (test)
PSNR37.38
8
Visual OdometryKITTI360 (Seq. 00)
Rotational Error (Rerr)3.9
8
Object instance segmentationKITTI360 32 (test)
mIoU @ 164.7
6
Global Place RecognitionKITTI360 Pose (test)
Recall@132
5
Semantic SegmentationKITTI360 Unseen region (test)
mIoU39.62
4
Front-Image-Conditioned LiDAR GenerationKITTI360
FSVD32.5
3
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