ResearchBenchmarks3D Instance Retrieval on Large-scale Outdoor Scene Rubble and MatrixCity3D Instance Retrieval on Large-scale Outdoor Scene Rubble and MatrixCityFollow77.11Rubble ScoreQueryGaussian73.254575.1822577.1179.03775Jun 18, 2026Evaluation resultsMethodMethodLinksRubble ScoreAerial ScoreMean ScoreQueryGaussian2026.0677.1176.2576.76