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Oxford

Benchmarks

Task NameDataset NameSOTA ResultTrend
Image RetrievalOxford 5k
mAP94.7
100
Image RetrievalOxford5k (test)
mAP91.9
97
Image RetrievalRevisited Oxford (ROxf) + R1M (Hard)
mAP76.3
83
Image RetrievalOxford 105k
mAP93.6
47
Place RecognitionOxford
AR@1%99.1
42
Image RetrievalR-Oxford Medium
mAP78.3
35
Image RetrievalOxford Revisited (Hard)
mAP58.9
33
Point Cloud RegistrationOxford Stereo DSO
RTE (m)0.35
30
Image RetrievalRevisited Oxford (ROxf) v1 (Hard)
mAP81.8
29
LiDAR LocalizationOxford (17-14-03-00)
Mean Position Error (m)0.6
23
LiDAR LocalizationOxford (17-13-26-39)
Mean Position Error (m)0.77
23
LiDAR LocalizationOxford (15-13-06-37)
Mean Position Error (m)0.74
23
Definition GenerationOxford
BLEU30.87
23
Image RetrievalRevisited Oxford (ROxf) Hard 1.0 (test)
mAP60.2
20
LiDAR RelocalizationOxford (test)
Translation Error (Seq 15-13-06-37)2.22
12
LiDAR LocalizationOxford (Average)
Mean Position Error (m)2.67
12
LiDAR LocalizationOxford (18-14-14-42)
Mean Position Error (m)1.95
12
LiDAR LocalizationOxford
Mean Position Error (m)2.67
12
Image RetrievalOxford 5k classic (base)
mAP92.6
12
Visual Place RecognitionOxford Urban
Recall@199.5
11
Global LocalizationOxford
Recall@10.837
10
Place RecognitionOxford (test)
Recall@1%98.6
10
Place RecognitionOxford Refined Dataset
AR@1%99.3
10
Image RetrievalROxford + R1M (medium, hard)
mAP (medium)66.5
9
Image RetrievalROxford Revisited (medium, hard)
mAP (medium)81.8
9
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