# Aerial Visual Localization on UAVD4L LoD (out-of-Traj.)

Source: [Aerial Visual Localization on UAVD4L LoD (out-of-Traj.)](<https://www.sota2.com/research/sota/aerial-visual-localization-on-uavd4l-lod-out-of-traj>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-06-29T06:26:09.205Z

Evaluation of Aerial Visual Localization performance on the UAVD4L LoD (out-of-Trajectory) dataset, reporting pose accuracy metrics (e.g., 2m-2°, 5m-5°).

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Aerial Visual Localization |
| Dataset (including any stated split) | UAVD4L LoD (out-of-Traj.) |
| Metric | 2m-2° Success Rate |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 37 of 37 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [2m-2° Success Rate](<https://www.sota2.com/research/sota/aerial-visual-localization-on-uavd4l-lod-out-of-traj.md?metric=2m-2%C2%B0%20Success%20Rate>): Higher is better; unit: PERCENT.

- [3m-3° Success Rate](<https://www.sota2.com/research/sota/aerial-visual-localization-on-uavd4l-lod-out-of-traj.md?metric=3m-3%C2%B0%20Success%20Rate>): Higher is better; unit: PERCENT.

- [5m-5° Success Rate](<https://www.sota2.com/research/sota/aerial-visual-localization-on-uavd4l-lod-out-of-traj.md?metric=5m-5%C2%B0%20Success%20Rate>): Higher is better; unit: PERCENT.

- [Translation Error (m)](<https://www.sota2.com/research/sota/aerial-visual-localization-on-uavd4l-lod-out-of-traj.md?metric=Translation%20Error%20(m)>): Lower is better; unit: SCALAR.

- [Rotational Error (°)](<https://www.sota2.com/research/sota/aerial-visual-localization-on-uavd4l-lod-out-of-traj.md?metric=Rotational%20Error%20(%C2%B0)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | 2m-2° Success Rate | Result date | Report paper |
| --- | --- | --- | --- |
| LoD-Loc v2 | 97.9 | Not recorded | 69c0c8d50636e5bf4afc3930 |
| LoD-Loc v3 | 97.4 | Not recorded | 69c0c8d50636e5bf4afc3930 |
| LoD-Loc v3 | 96.1 | Not recorded | 69c0c8d50636e5bf4afc3930 |
| LoD-Loc | 95.94 | Not recorded | 68fa753f1e209131cea66c5b |
| RoMA | 95.03 | Not recorded | 68fa753f1e209131cea66c5b |
| SPP+SPG | 93.43 | Not recorded | 68fa753f1e209131cea66c5b |
| LoFTR | 91.56 | Not recorded | 68fa753f1e209131cea66c5b |
| e-LoFTR | 91.06 | Not recorded | 68fa753f1e209131cea66c5b |
| LoD-Loc v2 | 90.5 | Not recorded | 69c0c8d50636e5bf4afc3930 |
| SemCityLoc | 89.64 | Not recorded | 6a41fc11206542251d7ccae1 |
| LoD-Loc | 88.18 | Not recorded | 6a41fc11206542251d7ccae1 |
| LoD-Loc | 82.62 | Not recorded | 68fa753f1e209131cea66c5b |
| SIFT+NN | 82.39 | Not recorded | 68fa753f1e209131cea66c5b |
| LoD-Loc | 74.27 | Not recorded | 68fa753f1e209131cea66c5b |
| LoD-Loc | 54.2 | Not recorded | 69c0c8d50636e5bf4afc3930 |
| SemCityLoc | 48.49 | Not recorded | 6a41fc11206542251d7ccae1 |
| SemCityLoc | 47.63 | Not recorded | 6a41fc11206542251d7ccae1 |
| LoD-Loc v3 | 11.7 | Not recorded | 69c0c8d50636e5bf4afc3930 |
| LoD-Loc v2 | 11.68 | Not recorded | 69c0c8d50636e5bf4afc3930 |
| RoMA | 6.93 | Not recorded | 68fa753f1e209131cea66c5b |
| LoD-Loc | 6.93 | Not recorded | 68fa753f1e209131cea66c5b |
| DINOv2 | 2.4 | Not recorded | 69c0c8d50636e5bf4afc3930 |
| e-LoFTR | 0.41 | Not recorded | 68fa753f1e209131cea66c5b |
| RoMa | 0.2 | Not recorded | 69c0c8d50636e5bf4afc3930 |
| Sensor Priors | 0 | Not recorded | 68fa753f1e209131cea66c5b |
| SIFT+NN | 0 | Not recorded | 68fa753f1e209131cea66c5b |
| SPP+SPG | 0 | Not recorded | 68fa753f1e209131cea66c5b |
| LoFTR | 0 | Not recorded | 68fa753f1e209131cea66c5b |
| SOLD2 | 0 | Not recorded | 68fa753f1e209131cea66c5b |
| DeepLSD+SOLD2 | 0 | Not recorded | 68fa753f1e209131cea66c5b |
| DeepLSD+GlueStick | 0 | Not recorded | 68fa753f1e209131cea66c5b |
| Prior | 0 | Not recorded | 69c0c8d50636e5bf4afc3930 |
| SIFT+NN | 0 | Not recorded | 69c0c8d50636e5bf4afc3930 |
| SPP+SPG | 0 | Not recorded | 69c0c8d50636e5bf4afc3930 |
| LoFTR | 0 | Not recorded | 69c0c8d50636e5bf4afc3930 |
| e-LoFTR | 0 | Not recorded | 69c0c8d50636e5bf4afc3930 |
| RoMA | 0 | Not recorded | 69c0c8d50636e5bf4afc3930 |

### LoD-Loc v2

2m-2° Success Rate: 97.9. Result ID: 69c1200947f34ce924a97c6c.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79cf1e209131cea7f7ee.md>)

Recorded evaluation configuration: {"Method Variation":"Full","In-distribution training":"true"}. This record does not assert independent reproduction.

### LoD-Loc v3

2m-2° Success Rate: 97.4. Result ID: 69c1200947f34ce924a97c6f.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

Recorded evaluation configuration: {"Method Variation":"Full"}. This record does not assert independent reproduction.

### LoD-Loc v3

2m-2° Success Rate: 96.1. Result ID: 69c1200947f34ce924a97c6e.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

Recorded evaluation configuration: {"Method Variation":"no select"}. This record does not assert independent reproduction.

### LoD-Loc

2m-2° Success Rate: 95.94. Result ID: 69a1648035dfcabb00e6c20a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Implementation](<https://victorzoo.github.io/LoD-Loc.github.io/>)

Recorded evaluation configuration: {"Variation":"Full model"}. This record does not assert independent reproduction.

### RoMA

2m-2° Success Rate: 95.03. Result ID: 69a1648035dfcabb00e6c1fe.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa717a1e209131cea51817.md>)

[Implementation](<https://www.sota2.com/github.com/Parskatt/RoMa>)

Recorded evaluation configuration: {"Reference Model":"UAVD4L Mesh model"}. This record does not assert independent reproduction.

### SPP+SPG

2m-2° Success Rate: 93.43. Result ID: 69a1648035dfcabb00e6c1fb.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa643f1e209131cea036f9.md>)

Recorded evaluation configuration: {"Reference Model":"UAVD4L Mesh model"}. This record does not assert independent reproduction.

### LoFTR

2m-2° Success Rate: 91.56. Result ID: 69a1648035dfcabb00e6c1fc.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69b21e209131cea2380d.md>)

[Implementation](<https://zju3dv.github.io/loftr/>)

Recorded evaluation configuration: {"Reference Model":"UAVD4L Mesh model"}. This record does not assert independent reproduction.

### e-LoFTR

2m-2° Success Rate: 91.06. Result ID: 69a1648035dfcabb00e6c1fd.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72811e209131cea56de2.md>)

[Implementation](<https://zju3dv.github.io/efficientloftr/>)

Recorded evaluation configuration: {"Reference Model":"UAVD4L Mesh model"}. This record does not assert independent reproduction.

### LoD-Loc v2

2m-2° Success Rate: 90.5. Result ID: 69c1200947f34ce924a97c6b.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79cf1e209131cea7f7ee.md>)

Recorded evaluation configuration: {"Method Variation":"no select","In-distribution training":"true"}. This record does not assert independent reproduction.

### SemCityLoc

2m-2° Success Rate: 89.64. Result ID: 6a420ffafbc373592c8651da.

[Reporting paper](<https://www.sota2.com/research/paper/6a41fc11206542251d7ccae1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a41fc11206542251d7ccae1.md>)

Recorded evaluation configuration: {"Model Variant":"Full model"}. This record does not assert independent reproduction.

### LoD-Loc

2m-2° Success Rate: 88.18. Result ID: 6a420ffafbc373592c8651d7.

[Reporting paper](<https://www.sota2.com/research/paper/6a41fc11206542251d7ccae1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Implementation](<https://victorzoo.github.io/LoD-Loc.github.io/>)

Recorded evaluation configuration: {"Model Variant":"LoD-Loc"}. This record does not assert independent reproduction.

### LoD-Loc

2m-2° Success Rate: 82.62. Result ID: 69a1648035dfcabb00e6c208.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Implementation](<https://victorzoo.github.io/LoD-Loc.github.io/>)

Recorded evaluation configuration: {"Variation":"no USR"}. This record does not assert independent reproduction.

### SIFT+NN

2m-2° Success Rate: 82.39. Result ID: 69a1648035dfcabb00e6c1fa.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

Recorded evaluation configuration: {"Reference Model":"UAVD4L Mesh model"}. This record does not assert independent reproduction.

### LoD-Loc

2m-2° Success Rate: 74.27. Result ID: 69a1648035dfcabb00e6c209.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Implementation](<https://victorzoo.github.io/LoD-Loc.github.io/>)

Recorded evaluation configuration: {"Variation":"no Refine"}. This record does not assert independent reproduction.

### LoD-Loc

2m-2° Success Rate: 54.2. Result ID: 69c1200947f34ce924a97c69.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Implementation](<https://victorzoo.github.io/LoD-Loc.github.io/>)

Recorded evaluation configuration: {"In-distribution training":"true"}. This record does not assert independent reproduction.

### SemCityLoc

2m-2° Success Rate: 48.49. Result ID: 6a420ffafbc373592c8651d9.

[Reporting paper](<https://www.sota2.com/research/paper/6a41fc11206542251d7ccae1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a41fc11206542251d7ccae1.md>)

Recorded evaluation configuration: {"Model Variant":"No Refinement"}. This record does not assert independent reproduction.

### SemCityLoc

2m-2° Success Rate: 47.63. Result ID: 6a420ffafbc373592c8651d8.

[Reporting paper](<https://www.sota2.com/research/paper/6a41fc11206542251d7ccae1.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a41fc11206542251d7ccae1.md>)

Recorded evaluation configuration: {"Model Variant":"No Coarse Selection"}. This record does not assert independent reproduction.

### LoD-Loc v3

2m-2° Success Rate: 11.7. Result ID: 69c1200947f34ce924a97c6d.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

Recorded evaluation configuration: {"Method Variation":"no refine"}. This record does not assert independent reproduction.

### LoD-Loc v2

2m-2° Success Rate: 11.68. Result ID: 69c1200947f34ce924a97c6a.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79cf1e209131cea7f7ee.md>)

Recorded evaluation configuration: {"Method Variation":"no refine","In-distribution training":"true"}. This record does not assert independent reproduction.

### RoMA

2m-2° Success Rate: 6.93. Result ID: 69a1648035dfcabb00e6c203.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa717a1e209131cea51817.md>)

[Implementation](<https://www.sota2.com/github.com/Parskatt/RoMa>)

Recorded evaluation configuration: {"Reference Model":"CadLoc LoD model"}. This record does not assert independent reproduction.

### LoD-Loc

2m-2° Success Rate: 6.93. Result ID: 69a1648035dfcabb00e6c207.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Implementation](<https://victorzoo.github.io/LoD-Loc.github.io/>)

Recorded evaluation configuration: {"Variation":"no wireframe estimation"}. This record does not assert independent reproduction.

### DINOv2

2m-2° Success Rate: 2.4. Result ID: 69c1200947f34ce924a97c67.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72181e209131cea546c3.md>)

[Implementation](<https://github.com/facebookresearch/dinov2>)

Recorded evaluation configuration: {"Framework":"MC-Loc"}. This record does not assert independent reproduction.

### e-LoFTR

2m-2° Success Rate: 0.41. Result ID: 69a1648035dfcabb00e6c202.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72811e209131cea56de2.md>)

[Implementation](<https://zju3dv.github.io/efficientloftr/>)

Recorded evaluation configuration: {"Reference Model":"CadLoc LoD model"}. This record does not assert independent reproduction.

### RoMa

2m-2° Success Rate: 0.2. Result ID: 69c1200947f34ce924a97c68.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa717a1e209131cea51817.md>)

[Implementation](<https://www.sota2.com/github.com/Parskatt/RoMa>)

Recorded evaluation configuration: {"Framework":"MC-Loc"}. This record does not assert independent reproduction.

### Sensor Priors

2m-2° Success Rate: 0. Result ID: 69a1648035dfcabb00e6c1f9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

Recorded evaluation configuration: {"Model Type":"Sensor Priors"}. This record does not assert independent reproduction.

### SIFT+NN

2m-2° Success Rate: 0. Result ID: 69a1648035dfcabb00e6c1ff.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

Recorded evaluation configuration: {"Reference Model":"CadLoc LoD model"}. This record does not assert independent reproduction.

### SPP+SPG

2m-2° Success Rate: 0. Result ID: 69a1648035dfcabb00e6c200.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa643f1e209131cea036f9.md>)

Recorded evaluation configuration: {"Reference Model":"CadLoc LoD model"}. This record does not assert independent reproduction.

### LoFTR

2m-2° Success Rate: 0. Result ID: 69a1648035dfcabb00e6c201.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69b21e209131cea2380d.md>)

[Implementation](<https://zju3dv.github.io/loftr/>)

Recorded evaluation configuration: {"Reference Model":"CadLoc LoD model"}. This record does not assert independent reproduction.

### SOLD2

2m-2° Success Rate: 0. Result ID: 69a1648035dfcabb00e6c204.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69ba1e209131cea23c6a.md>)

[Implementation](<https://github.com/cvg/SOLD2>)

Recorded evaluation configuration: {"Reference Model":"CadLoc LoD model"}. This record does not assert independent reproduction.

### DeepLSD+SOLD2

2m-2° Success Rate: 0. Result ID: 69a1648035dfcabb00e6c205.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6edf1e209131cea428a6.md>)

Recorded evaluation configuration: {"Reference Model":"CadLoc LoD model"}. This record does not assert independent reproduction.

### DeepLSD+GlueStick

2m-2° Success Rate: 0. Result ID: 69a1648035dfcabb00e6c206.

[Reporting paper](<https://www.sota2.com/research/paper/68fa753f1e209131cea66c5b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70e81e209131cea4de2c.md>)

Recorded evaluation configuration: {"Reference Model":"CadLoc LoD model"}. This record does not assert independent reproduction.

### Prior

2m-2° Success Rate: 0. Result ID: 69c1200947f34ce924a97c61.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### SIFT+NN

2m-2° Success Rate: 0. Result ID: 69c1200947f34ce924a97c62.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

Recorded evaluation configuration: {"Framework":"CAD-Loc"}. This record does not assert independent reproduction.

### SPP+SPG

2m-2° Success Rate: 0. Result ID: 69c1200947f34ce924a97c63.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa673c1e209131cea15151.md>)

Recorded evaluation configuration: {"Framework":"CAD-Loc"}. This record does not assert independent reproduction.

### LoFTR

2m-2° Success Rate: 0. Result ID: 69c1200947f34ce924a97c64.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69b21e209131cea2380d.md>)

[Implementation](<https://zju3dv.github.io/loftr/>)

Recorded evaluation configuration: {"Framework":"CAD-Loc"}. This record does not assert independent reproduction.

### e-LoFTR

2m-2° Success Rate: 0. Result ID: 69c1200947f34ce924a97c65.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72811e209131cea56de2.md>)

[Implementation](<https://zju3dv.github.io/efficientloftr/>)

Recorded evaluation configuration: {"Framework":"CAD-Loc"}. This record does not assert independent reproduction.

### RoMA

2m-2° Success Rate: 0. Result ID: 69c1200947f34ce924a97c66.

[Reporting paper](<https://www.sota2.com/research/paper/69c0c8d50636e5bf4afc3930.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa717a1e209131cea51817.md>)

[Implementation](<https://www.sota2.com/github.com/Parskatt/RoMa>)

Recorded evaluation configuration: {"Framework":"CAD-Loc"}. This record does not assert independent reproduction.

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