Visual Localization on Cambridge Landmarks
9King's Positional Error (cm)
GS-RelocNet (PR)
Updated 15d ago
Evaluation Results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
2026.05 | 9 | - | - | 0.15 | 10 | 0.19 | 3 | 0.15 | 5 | 0.13 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 11 | 17.7 | 0.11 | 0.2 | 15.1 | 0.31 | 4.2 | 0.2 | 7 | 0.22 | 11 | 0.21 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 11 | 16 | 0.1 | 0.2 | 14 | 0.3 | 4 | 0.2 | 7 | 0.2 | 10 | 0.2 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 11 | 17.7 | 0.11 | 0.2 | 15.1 | 0.31 | 4.2 | 0.2 | 7 | 0.22 | 11 | 0.21 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 11 | - | - | 0.19 | 13 | 0.26 | 4 | 0.18 | 7 | 0.15 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 12 | 16 | 0.1 | 0.2 | 15 | 0.3 | 4 | 0.2 | 7 | 0.2 | 11 | 0.2 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 12 | 18 | 0.1 | 0.2 | 15 | 0.3 | 4 | 0.2 | 7 | 0.2 | 11 | 0.2 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 12 | 16 | 0.1 | 0.2 | 16 | 0.3 | 4 | 0.2 | 8 | 0.3 | 11 | 0.2 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 12 | - | - | 0.18 | 13 | 0.25 | 5 | 0.19 | 7 | 0.2 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 12.5 | 19.6 | 0.09 | 0.23 | 20.9 | 0.38 | 8.4 | 0.4 | 10.9 | 0.35 | 14.5 | 0.29 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 12.5 | 19.6 | 0.09 | 0.23 | 20.9 | 0.38 | 8.4 | 0.4 | 10.9 | 0.35 | 14.5 | 0.29 | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 13 | 24 | 0.13 | 0.22 | 20 | 0.36 | 4 | 0.21 | 8 | 0.25 | 13.8 | 0.23 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 13 | 24 | 0.1 | 0.2 | 20 | 0.4 | 4 | 0.2 | 8 | 0.3 | 14 | 0.2 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 13 | 19 | 0.1 | 0.2 | 16 | 0.3 | 4 | 0.2 | 7 | 0.2 | 12 | 0.2 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 13 | 24 | 0.13 | 0.22 | 20 | 0.36 | 4 | 0.21 | 8 | 0.25 | 13.8 | 0.23 | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 14 | 6 | 0.1 | 0.19 | 19 | 0.36 | 6 | 0.25 | 17 | 0.53 | 12.4 | 0.29 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 14 | 30 | 0.1 | 0.2 | 16 | 0.3 | 5 | 0.2 | 10 | 0.3 | 15 | 0.2 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 14 | 30 | 0.14 | 0.24 | 16 | 0.32 | 5 | 0.23 | 10 | 0.34 | 15 | 0.25 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 14.1 | 9.3 | 0.06 | 0.17 | 13.8 | 0.29 | 2.5 | 0.12 | 3.8 | 0.13 | 8.7 | 0.15 | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 15 | 15.7 | 0.06 | 0.17 | 11.9 | 0.21 | 3 | 0.13 | 4.7 | 0.14 | 10.1 | 0.14 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 15 | 17 | 0.1 | 0.2 | 17 | 0.3 | 7 | 0.3 | 8 | 0.2 | 13 | 0.2 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 15 | 49 | 0.3 | 0.3 | 21 | 0.4 | 5 | 0.3 | 13 | 0.4 | 21 | 0.3 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 15 | 18 | 0.1 | 0.3 | 19 | 0.4 | 5 | 0.3 | 9 | 0.3 | 13 | 0.3 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 15 | 15.7 | 0.06 | 0.17 | 11.9 | 0.21 | 3 | 0.13 | 4.7 | 0.14 | 10.1 | 0.14 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 15 | 22 | 0.15 | 0.23 | 18 | 0.38 | 5 | 0.23 | 9 | 0.23 | 13.8 | 0.24 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 15.2 | 13.1 | 0.08 | 0.17 | 18.6 | 0.36 | 3.5 | 0.17 | 5.3 | 0.19 | 11.1 | 0.19 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 15.9 | 11.7 | 0.08 | 0.18 | 16.7 | 0.37 | 2.9 | 0.13 | 6 | 0.21 | 10.6 | 0.2 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 17 | - | - | 0.26 | 18 | 0.36 | 4 | 0.25 | 8 | 0.26 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 17.9 | 33 | 0.21 | 0.31 | 21.1 | 0.4 | 5.2 | 0.24 | 15.4 | 0.51 | 18.5 | 0.33 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 18 | 28 | 0.1 | 0.3 | 25 | 0.5 | 5 | 0.3 | 9 | 0.3 | 17 | 0.3 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 18 | 34 | 0.2 | 0.3 | 21 | 0.4 | 5 | 0.3 | 15 | 0.6 | 19 | 0.4 | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 18.6 | 27.9 | 0.14 | 0.33 | 25.7 | 0.51 | 5.1 | 0.26 | 9.5 | 0.33 | 17.4 | 0.31 | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 18.9 | 19 | 0.12 | 0.32 | 18 | 0.42 | 4.4 | 0.23 | 8.4 | 0.29 | 13.7 | 0.28 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 19 | 19 | 0.1 | 0.3 | 17 | 0.4 | 4 | 0.2 | 9 | 0.3 | 14 | 0.3 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 19 | 19 | 0.1 | 0.3 | 17 | 0.4 | 4 | 0.2 | 9 | 0.3 | 14 | 0.3 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 23 | - | - | 0.3 | 22 | 0.42 | 8 | 0.29 | 14 | 0.45 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 24 | 81 | 0.25 | 0.29 | 28 | 0.37 | 6 | 0.27 | 40 | 0.55 | 35.8 | 0.35 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 24 | 81 | 0.25 | 0.29 | 28 | 0.37 | 6 | 0.27 | 40 | 0.55 | 35.8 | 0.35 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 25 | - | - | 0.6 | 283 | 8.1 | 48 | 4.8 | 335 | 9.9 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 28 | 43 | 0.2 | 0.4 | 31 | 0.6 | 5 | 0.3 | 18 | 0.6 | 25 | 0.4 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 28 | 43 | 0.2 | 0.4 | 31 | 0.6 | 5 | 0.3 | 18 | 0.6 | 25 | 0.4 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 31 | - | - | 0.49 | 16 | 0.68 | 4 | 0.34 | 14 | 0.42 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 32 | 328 | 2 | 0.5 | 32 | 0.5 | 10 | 0.5 | 16 | 0.6 | 84 | 0.8 | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 37 | - | - | 0.54 | 52 | 0.88 | 15 | 0.53 | 37 | 1.14 | 35.3 | 0.77 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 39 | 81 | 0.5 | 0.7 | 38 | 0.5 | 19 | 1 | 31 | 1 | 42 | 0.7 | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 47 | - | - | 0.7 | 43 | 0.7 | 20 | 1.2 | 39 | 1.4 | 37.3 | 1 | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 47 | - | - | 0.7 | 43 | 0.7 | 20 | 1.2 | 39 | 1.4 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.01 | 81 | - | - | 0.6 | 75 | 1 | 19 | 0.5 | 50 | 0.5 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | 12 | 0.2 | 15 | 0.3 | 4 | 0.2 | 7 | 0.2 | - | - | - | - | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | 12 | 0.2 | 15 | 0.3 | 4 | 0.2 | 8 | 0.2 | - | - | - | - | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | 18 | 0.3 | 21 | 0.4 | 5 | 0.3 | 15 | 0.6 | - | - | - | - | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | 28 | 0.4 | 31 | 0.6 | 5 | 0.3 | 18 | 0.6 | - | - | - | - | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | 19 | 0.3 | 17 | 0.4 | 4 | 0.2 | 9 | 0.3 | - | - | - | - | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | 25 | 0.64 | 283 | 8.14 | 48 | 4.77 | 335 | 9.94 | - | - | - | - | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | 18 | 0.47 | 75 | 2.83 | 15 | 1.57 | 106 | 4.03 | - | - | - | - | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | 24 | 0.26 | 36 | 0.52 | 11 | 0.34 | 17 | 0.46 | - | - | - | - | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | 24 | 0.39 | 26 | 0.49 | 5 | 0.27 | 13 | 0.48 | - | - | - | - | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | 11 | 0.2 | 16 | 0.3 | 4 | 0.2 | 7 | 0.2 | - | - | - | - | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | 25 | 0.4 | 38 | 0.7 | 10 | 0.4 | 16 | 0.5 | - | - | - | - | |
2026.05 | - | - | - | - | - | - | - | - | - | - | - | - | 13 | 0.22 | 20 | 0.36 | 4 | 0.21 | 8 | 0.25 | 24 | 0.13 | 13.8 | 0.23 | |
2026.05 | - | - | - | - | - | - | - | - | - | - | - | - | 11 | 0.2 | 15.1 | 0.31 | 4.2 | 0.2 | 7 | 0.22 | 17.7 | 0.11 | 11 | 0.21 | |
2026.05 | - | - | - | - | - | - | - | - | - | - | - | - | 17.9 | 0.31 | 21.1 | 0.4 | 5.2 | 0.24 | 15.4 | 0.51 | 33 | 0.21 | 18.5 | 0.33 | |
2026.05 | - | - | - | - | - | - | - | - | - | - | - | - | 18.6 | 0.33 | 25.7 | 0.51 | 5.1 | 0.26 | 9.5 | 0.33 | 27.9 | 0.14 | 17.4 | 0.31 | |
2026.05 | - | - | - | - | - | - | - | - | - | - | - | - | 14 | 0.19 | 19 | 0.36 | 6 | 0.25 | 17 | 0.53 | 6 | 0.1 | 12.4 | 0.29 | |
2026.05 | - | - | - | - | - | - | - | - | - | - | - | - | 37 | 0.54 | 52 | 0.88 | 15 | 0.53 | 37 | 1.14 | - | - | 35.3 | 0.77 | |
2026.05 | - | - | - | - | - | - | - | - | - | - | - | - | 47 | 0.7 | 43 | 0.7 | 20 | 1.2 | 39 | 1.4 | - | - | 37.3 | 1 | |
2026.05 | - | - | - | - | - | - | - | - | - | - | - | - | 24 | 0.29 | 28 | 0.37 | 6 | 0.27 | 40 | 0.55 | 81 | 0.25 | 35.8 | 0.35 | |
2026.05 | - | - | - | - | - | - | - | - | - | - | - | - | 12.5 | 0.23 | 20.9 | 0.38 | 8.4 | 0.4 | 10.9 | 0.35 | 19.6 | 0.09 | 14.5 | 0.29 | |
2026.05 | - | - | - | - | - | - | - | - | - | - | - | - | 15 | 0.17 | 11.9 | 0.21 | 3 | 0.13 | 4.7 | 0.14 | 15.7 | 0.06 | 10.1 | 0.14 | |
2026.05 | - | - | - | - | - | - | - | - | - | - | - | - | 15.41 | 0.16 | 9.02 | 0.19 | 4.66 | 0.26 | 7.67 | 0.31 | 7.92 | 0.05 | 8.9 | 0.19 | |
2026.05 | - | - | - | - | - | - | - | - | - | - | - | - | 15.9 | 0.18 | 9.14 | 0.21 | 4.6 | 0.25 | 7.6 | 0.31 | 7.96 | 0.05 | 9.04 | 0.2 |