6-DoF Metric Localisation on CS-Wild-Places Karawatha (baseline set)
88.9Success Rate (SR)HOTFLoc++
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| HOTFLoc++Re-Ranker=MSGV (Ours), Global descriptor dimension=256-d, Voxel size=0.4 m2025.11 | 88.9 | 70.1 | 1.11 | 1.57 | |
| HOTFLoc++Re-Ranker=SGV [1], Global descriptor dimension=256-d, Voxel size=0.4 m2025.11 | 85.9 | 70.6 | 1.7 | 3.37 | |
| HOTFLoc++Re-Ranker=None, Global descriptor dimension=256-d, Voxel size=0.4 m2025.11 | 82.9 | 59.1 | 2.32 | 5.74 | |
| LoGG3D-NetRe-Ranker=SGV [1], Global descriptor dimension=1024-d, Voxel size=0.8 m2025.11 | 81.5 | 35.6 | 2.5 | 9.18 | |
| LoGG3D-NetRe-Ranker=None, Global descriptor dimension=1024-d, Voxel size=0.8 m2025.11 | 78.3 | 24.7 | 3.39 | 11.7 | |
| EgoNNRe-Ranker=SGV [1], Global descriptor dimension=256-d, Voxel size=0.4 m2025.11 | 56.9 | 36.7 | 4.7 | 26.79 | |
| EgoNNRe-Ranker=None, Global descriptor dimension=256-d, Voxel size=0.4 m2025.11 | 43.3 | 23 | 7.81 | 44.64 |