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Visual Localization on 7Scenes (test)

0.15Chess Median Angular Error (°)

STDLoc

Updated 4d ago

Evaluation Results

Method
STDLoc 2025.03	0.15	0.46	0.57	0.24	0.45	0.26	0.86	0.24	0.93	0.21	0.63	0.19	1.42	0.41	0.76	0.24
DSAC* 2025.03	0.17	0.5	0.78	0.29	0.5	0.34	1.19	0.35	1.19	0.29	0.72	0.21	2.65	0.78	1.07	0.35
ACE 2025.03	0.18	0.55	0.83	0.33	0.53	0.33	1.05	0.29	1.06	0.22	0.77	0.21	2.89	0.81	1.1	0.34
NBE+SLD 2025.03	0.18	0.6	0.7	0.26	0.6	0.35	1.3	0.33	1.5	0.33	0.8	0.19	2.6	0.72	1.16	0.34
NeRFMatch 2025.03	0.3	0.95	1.11	0.41	1.34	0.92	3.09	0.87	2.21	0.6	1.03	0.28	9.26	1.74	2.71	0.73
CROSSFIRE 2025.03	0.4	1	5	1.9	3	2.3	5	1.6	3	0.8	2	0.8	12	1.9	4.43	1.38
VS-Net 2021.05	0.5	-	-	0.8	-	0.7	-	0.6	-	1	-	1.1	-	0.8	-	0.8
DSAC++ 2021.05	0.5	-	-	0.9	-	0.8	-	0.7	-	1.1	-	1.1	-	2.5	-	1.1
DFNet+NeFeS50 2025.03	0.57	2	2	0.74	2	1.28	2	0.56	2	0.55	2	0.57	5	1.28	2.43	0.79
HSC-Net 2021.05	0.7	-	-	0.8	-	0.3	-	0.8	-	1	-	1.8	-	0.8	-	1
HSCNet 2023.06	0.7	2	2	0.9	1	0.9	3	0.8	4	1	4	1.2	3	0.8	-	-
ACE 2024.04	0.7	1.9	1.9	0.9	0.9	0.6	2.7	0.8	4.2	1.1	4.2	1.3	3.9	1.1	2.8	0.93
PNeRFLoc 2025.03	0.8	2	2	0.88	1	0.83	3	1.05	6	1.51	5	1.54	32	5.73	7.29	1.76
NeuMap 2025.03	0.81	2	3	1.11	2	1.17	3	0.98	4	1.11	4	1.33	4	1.12	3.14	0.95
HLoc (SP+SG) 2025.03	0.84	2.39	2.29	0.91	1.13	0.77	3.14	0.92	4.92	1.3	4.22	1.39	5.05	1.41	3.31	1.08
SP+SG 2023.06	0.85	2	2	0.94	1	0.75	3	0.92	5	1.3	4	1.4	5	1.47	-	-
AS 2023.06	0.87	3	2	1.01	1	0.82	4	1.15	7	1.69	5	1.72	4	1.01	-	-
AS (SIFT) 2025.03	0.87	3	2	1.01	1	0.82	4	1.15	7	1.69	5	1.72	4	1.01	3.71	1.18
DVLAD+R2D2 2025.03	0.88	2.56	2.21	0.86	0.98	0.75	3.48	1	4.79	1.28	4.21	1.44	4.6	1.27	3.26	1.07
HF-Net 2021.05	0.9	-	-	1	-	0.9	-	1.2	-	1.6	-	1.6	-	1.9	-	1.3
Reg 2021.05	1	-	-	0.9	-	0.8	-	0.9	-	1.1	-	1.4	-	0.9	-	1
DSAC* 2023.06	1.1	2	2	1.24	1	1.82	3	1.15	4	1.34	4	1.68	3	1.16	-	-
DSAC* 2024.04	1.11	1.9	1.9	1.24	1.1	1.82	2.6	1.18	4.2	1.41	3	1.7	4.2	1.42	2.7	1.41
DFNet (EB0) 2024.04	1.15	3	9	3.71	8	6.08	7	2.14	10	2.76	9	2.87	11	5.58	8	3.47
marepoS 2024.04	1.24	2.1	2.3	1.39	1.8	2.03	2.8	1.26	3.5	1.48	4.2	1.71	5.6	1.67	3.2	1.54
LENS 2024.04	1.3	3	10	3.7	7	5.8	7	1.9	8	2.2	9	2.2	14	3.6	8	3
marepo 2024.04	1.35	2.6	2.5	1.42	2.3	2.21	3.6	1.44	4.2	1.55	5.1	1.99	6.7	1.83	3.9	1.68
DGC-GNN 2023.06	1.43	3	5	1.77	4	2.95	6	1.61	8	1.93	8	2.09	71	19.5	-	-
GoMatch 2023.06	1.65	4	13	3.86	9	5.17	11	2.48	16	3.32	13	2.84	89	21.12	-	-
DFNet (VGG) 2024.04	1.88	5	17	6.45	6	3.63	8	2.48	10	2.78	22	5.45	16	3.29	12	3.71
AS 2021.05	1.96	-	-	1.53	-	1.45	-	3.61	-	3.1	-	3.37	-	2.22	-	2.5
MapNet 2024.04	3.25	8	27	11.7	18	13.3	17	5.15	22	4.02	23	4.93	30	12.1	21	7.77
Direct-PN 2024.04	3.52	10	27	8.66	17	13.1	16	5.96	19	3.85	22	5.13	32	10.6	20	7.26
geo. PN 2024.04	4.48	13	27	11.3	17	13	19	5.55	26	4.75	23	5.35	35	12.4	23	8.12
PN Learn σ² 2024.04	4.5	14	27	11.8	18	12.1	20	5.77	25	4.82	24	5.52	37	10.6	24	7.87
MS-Trans. 2023.06	4.66	11	24	9.6	14	12.19	17	5.66	18	4.44	17	5.94	26	8.45	-	-
MS-Transformer 2024.04	4.66	11	24	9.6	14	12.2	17	5.66	18	4.44	17	5.94	17	5.94	18	7.28
BranchNet 2024.04	5.17	18	34	8.99	20	14.2	30	7.05	27	5.1	33	7.4	38	10.3	29	8.3
LSTM PN 2024.04	5.77	24	34	11.9	21	13.7	30	8.08	33	7	37	8.83	40	13.7	31	9.85
Hourglass PN 2024.04	6.17	15	27	10.8	19	11.6	21	8.48	25	7.01	27	10.2	29	12.5	23	9.53
PoseNet(PN) 2024.04	8.12	32	47	14.4	29	12	48	7.68	47	8.42	59	8.64	47	13.8	44	10.4