3D Relocalization on Building-Corridor Scene
100Success Rate (SR)Offline-Online Hierarchical 3D Global Relocalization
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Offline-Online Hierarchical 3D Global RelocalizationPose=22026.05 | 100 | 1.887 | 0.038 | 0.023 | |
| Offline-Online Hierarchical 3D Global RelocalizationPose=62026.05 | 100 | 3.026 | 0.053 | 0.18 | |
| Offline-Online Hierarchical 3D Global RelocalizationPose=82026.05 | 100 | 1.621 | 0.039 | 0.071 | |
| Offline-Online Hierarchical 3D Global RelocalizationPose=92026.05 | 100 | 1.779 | 0.037 | 0.049 | |
| Offline-Online Hierarchical 3D Global RelocalizationPose=122026.05 | 100 | 1.775 | 0.093 | 0.009 | |
| GO-ICPPose=22026.05 | 100 | 92.913 | 0.037 | 0.084 | |
| GO-ICPPose=82026.05 | 100 | 39.322 | 0.083 | 0.096 | |
| GO-ICPPose=92026.05 | 100 | 27.295 | 0.039 | 0.044 | |
| GO-ICPPose=122026.05 | 100 | 26.538 | 0.085 | 0.033 | |
| Offline-Online Hierarchical 3D Global RelocalizationPose=102026.05 | 95 | 1.175 | 0.047 | 0.132 | |
| GO-ICPPose=42026.05 | 95 | 24.043 | 0.064 | 0.208 | |
| GO-ICPPose=102026.05 | 95 | 61.834 | 0.093 | 0.066 | |
| Offline-Online Hierarchical 3D Global RelocalizationPose=42026.05 | 90 | 2.126 | 0.167 | 0.044 | |
| Offline-Online Hierarchical 3D Global RelocalizationPose=112026.05 | 90 | 2.153 | 0.092 | 0.072 | |
| GO-ICPPose=112026.05 | 90 | 11.318 | 0.094 | 0.255 | |
| FPFH-RANSAC+ICPPose=22026.05 | 90 | 13.228 | 0.038 | 0.018 | |
| GO-ICPPose=62026.05 | 85 | 9.16 | 0.072 | 0.199 | |
| FPFH-RANSAC+ICPPose=92026.05 | 85 | 13.756 | 0.058 | 0.01 | |
| FPFH-RANSAC+ICPPose=112026.05 | 70 | 18.239 | 0.088 | 0.674 | |
| FPFH-RANSAC+ICPPose=102026.05 | 65 | 13.214 | 0.085 | 0.026 | |
| FPFH-FGR+ICPPose=82026.05 | 65 | 16.384 | 0.465 | 0.107 | |
| FPFH-RANSAC+ICPPose=62026.05 | 60 | 13.483 | 0.061 | 0.024 | |
| FPFH-RANSAC+ICPPose=82026.05 | 60 | 13.477 | 0.062 | 0.01 | |
| FPFH-RANSAC+ICPPose=42026.05 | 55 | 13.029 | 0.091 | 0.014 | |
| FPFH-FGR+ICPPose=22026.05 | 55 | 14.759 | 0.07 | 0.09 | |
| FPFH-FGR+ICPPose=62026.05 | 55 | 18.12 | 0.086 | 0.213 | |
| FPFH-RANSAC+ICPPose=122026.05 | 35 | 11.203 | 0.103 | 0.008 | |
| FPFH-FGR+ICPPose=102026.05 | 25 | 22.924 | 1.115 | 1.658 | |
| FPFH-FGR+ICPPose=112026.05 | 10 | 20.763 | 1.269 | 0.219 | |
| FPFH-FGR+ICPPose=42026.05 | 0 | — | — | — | |
| FPFH-FGR+ICPPose=92026.05 | 0 | — | — | — | |
| FPFH-FGR+ICPPose=122026.05 | 0 | — | — | — |