3D Place Recognition on CS-CAMPUS3D (test)
80.4AR@1 (Recall)HOTFormerLoc
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| HOTFormerLocquery_source=ground-only, database_source=aerial-only, global_descriptor_size=2562025.03 | 80.4 | 94.9 | |
| CROSSLOC3DDatabase=Aerial + Ground, Query=Ground-Only2023.03 | 74.12 | 83.04 | |
| CROSSLOC3DDatabase=Aerial-Only, Query=Ground-Only2023.03 | 70.73 | 85.74 | |
| CROSSLOC3DParameters=15.35M, Running Time per Query=26 ms2023.03 | 70.73 | — | |
| CrossLoc3Dquery_source=ground-only, database_source=aerial-only2025.03 | 70.7 | 85.7 | |
| Minkloc3DDatabase=Aerial + Ground, Query=Ground-Only2023.03 | 69.38 | 79.1 | |
| Minkloc3Dv2Database=Aerial + Ground, Query=Ground-Only2023.03 | 67.06 | 76.68 | |
| TransLoc3D†Parameters=27.85M, Running Time per Query=81 ms, Note=manually increased parameters2023.03 | 62.57 | — | |
| TransLoc3DDatabase=Aerial + Ground, Query=Ground-Only2023.03 | 58.16 | 69.04 | |
| Minkloc3DDatabase=Aerial-Only, Query=Ground-Only2023.03 | 55.36 | 85.22 | |
| Minkloc3DParameters=1.1M, Running Time per Query=21 ms2023.03 | 55.36 | — | |
| MinkLoc3Dv2query_source=ground-only, database_source=aerial-only2025.03 | 52.5 | 83.5 | |
| Minkloc3Dv2Database=Aerial-Only, Query=Ground-Only2023.03 | 52.46 | 83.48 | |
| LPD-NetDatabase=Aerial + Ground, Query=Ground-Only2023.03 | 45.94 | 56.49 | |
| Minkloc3D-SDatabase=Aerial + Ground, Query=Ground-Only2023.03 | 44.39 | 59.33 | |
| TransLoc3Dquery_source=ground-only, database_source=aerial-only2025.03 | 43 | 80.6 | |
| TransLoc3DDatabase=Aerial-Only, Query=Ground-Only2023.03 | 42.97 | 80.64 | |
| TransLoc3DParameters=10.97M, Running Time per Query=46 ms2023.03 | 42.97 | — | |
| PointNetVLADDatabase=Aerial + Ground, Query=Ground-Only2023.03 | 35.57 | 41.46 | |
| Minkloc3D-SDatabase=Aerial-Only, Query=Ground-Only2023.03 | 32.17 | 71.88 | |
| PointNetVLADquery_source=ground-only, database_source=aerial-only2025.03 | 19.1 | 43.6 | |
| PointNetVLADDatabase=Aerial-Only, Query=Ground-Only2023.03 | 19.07 | 43.53 | |
| PointNetVLADParameters=19.78M, Running Time per Query=25 ms2023.03 | 19.07 | — | |
| LPD-NetDatabase=Aerial-Only, Query=Ground-Only2023.03 | 11.99 | 40.7 | |
| LPD-NetParameters=19.81M, Running Time per Query=35 ms2023.03 | 11.99 | — |