2D Localization on Matterport3D
0.11RMSE (m)OMCL_GT
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| OMCL_GTMap Representation=2D, Mapping Model=Ground Truth, Localization Model=Ground Truth2025.12 | 0.11 | 0.07 | 0.09 | 0.08 | 0.08 | 0.18 | 17.38 | — | |
| OMCL_LSegMap Representation=2D, Mapping Model=LSeg, Localization Model=LSeg2025.12 | 0.15 | 0.09 | 0.13 | 0.12 | 0.11 | 0.28 | 33.07 | — | |
| OMCL_auto_LSegMap Representation=2D, Mapping Model=auto (ungrounded), Localization Model=LSeg2025.12 | 0.24 | 0.15 | 0.18 | 0.15 | 0.14 | 0.52 | 95 | — | |
| OMCL_Open\LSegMap Representation=2D, Mapping Model=OpenScene, Localization Model=LSeg2025.12 | 0.36 | 0.24 | 0.27 | 0.22 | 0.15 | 0.62 | 164.07 | — | |
| SeDAR*Map Representation=2D, Mapping Model=Ground Truth2025.12 | 0.79 | 0.46 | 0.64 | 0.54 | 0.24 | 2.33 | 1,891.2 | — | |
| SIMP*Map Representation=2D, Mapping Model=Ground Truth2025.12 | 1.39 | 1.03 | 0.79 | 0.94 | 0.45 | 2.81 | 2,898.15 | — |