Camera Pose Localization on Cambridge Landmarks
0.18College Position Error (m)DSAC*
Evaluation results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DSAC*Method Category=Seq.2023.03 | 0.18 | 0.3 | 0.21 | 0.4 | 0.05 | 0.3 | 0.15 | 0.5 | 0.15 | 0.4 | — | — | — | |
| RelocGNNMethod Category=RPR2023.03 | 0.48 | 1 | 1.14 | 2.5 | 0.48 | 2.5 | 1.52 | 3.2 | 0.91 | 2.3 | — | — | — | |
| GL-NetMethod Category=Seq.2023.03 | 0.59 | 0.7 | 1.88 | 2.8 | 0.5 | 2.9 | 1.9 | 3.3 | 1.22 | 2.4 | — | — | — | |
| NC-EssNetMethod Category=RPR2023.03 | 0.61 | 1.6 | 0.95 | 2.7 | 0.7 | 3.4 | 1.12 | 3.6 | 0.85 | 2.8 | — | — | — | |
| HyperPoseMethod Category=APR, Variant=Baseline APR w/ hypernet2023.03 | 0.61 | 1.84 | 1.44 | 3.03 | 0.7 | 3.62 | 1.37 | 4.85 | 1.03 | 2.67 | — | — | — | |
| EssNetMethod Category=RPR2023.03 | 0.76 | 1.9 | 1.39 | 2.8 | 0.84 | 4.3 | 1.32 | 4.7 | 1.08 | 3.4 | — | — | — | |
| MS-HyperPoseMethod Category=MS-APR2023.03 | 0.78 | 1.18 | 1.84 | 2.11 | 0.83 | 3.13 | 1.61 | 3.22 | 1.27 | 2.41 | — | — | — | |
| MS-TransMethod Category=MS-APR2023.03 | 0.83 | 1.47 | 1.81 | 2.39 | 0.86 | 3.07 | 1.62 | 3.99 | 1.28 | 2.73 | — | — | — | |
| GeoPoseNetMethod Category=APR2023.03 | 0.88 | 1.04 | 3.2 | 3.29 | 0.88 | 3.78 | 1.57 | 3.32 | 1.63 | 2.86 | — | — | — | |
| LSTM-PNMethod Category=APR2023.03 | 0.99 | 3.65 | 1.51 | 4.29 | 1.18 | 7.44 | 1.52 | 6.68 | 1.3 | 5.57 | — | — | — | |
| PoseNetLearnMethod Category=APR2023.03 | 0.99 | 1.06 | 2.17 | 2.94 | 1.05 | 3.97 | 1.49 | 3.43 | 1.42 | 2.85 | — | — | — | |
| SVS-PoseMethod Category=APR2023.03 | 1.06 | 2.81 | 1.5 | 4.03 | 0.63 | 5.73 | 2.11 | 8.11 | 1.32 | 5.17 | — | — | — | |
| MapNetMethod Category=Seq.2023.03 | 1.08 | 1.9 | 1.94 | 3.9 | 1.49 | 4.2 | 2 | 4.5 | 1.63 | 3.6 | — | — | — | |
| IRPNetMethod Category=APR2023.03 | 1.18 | 2.19 | 1.87 | 3.38 | 0.72 | 3.47 | 1.87 | 4.94 | 1.41 | 3.5 | — | — | — | |
| VLAD+InterMethod Category=IR2023.03 | 1.48 | 4.5 | 2.68 | 4.6 | 0.9 | 4.3 | 1.62 | 6.1 | 1.67 | 4.9 | — | — | — | |
| GPoseNetMethod Category=APR2023.03 | 1.61 | 2.29 | 2.62 | 3.89 | 1.14 | 5.73 | 2.93 | 6.46 | 2.07 | 4.59 | — | — | — | |
| MSPNMethod Category=MS-APR2023.03 | 1.73 | 3.65 | 2.55 | 4.05 | 2.92 | 7.49 | 2.67 | 6.18 | 2.47 | 5.34 | — | — | — | |
| BayesianPNMethod Category=APR2023.03 | 1.74 | 4.06 | 2.57 | 5.14 | 1.25 | 7.54 | 2.11 | 8.38 | 1.91 | 6.28 | — | — | — | |
| PoseNetMethod Category=APR2023.03 | 1.92 | 5.4 | 2.31 | 5.38 | 1.46 | 8.08 | 2.65 | 8.48 | 2.08 | 6.83 | — | — | — | |
| VLADMethod Category=IR2023.03 | 2.8 | 5.7 | 4.01 | 7.1 | 1.11 | 7.6 | 2.31 | 8 | 2.56 | 7.1 | — | — | — | |
| CUT3R2026.03 | — | — | — | — | — | — | — | — | — | — | 16.645 | 4.436 | 1.212 | |
| FastVGGT2026.03 | — | — | — | — | — | — | — | — | — | — | 0.812 | 4.198 | 1.095 | |
| MAStR-SfM2026.03 | — | — | — | — | — | — | — | — | — | — | 7.695 | 4.426 | 0.987 | |
| Ours + FastVGGTbase_method=FastVGGT2026.03 | — | — | — | — | — | — | — | — | — | — | 0.78 | 4.433 | 1.261 | |
| Ours + VGGT*base_method=VGGT*2026.03 | — | — | — | — | — | — | — | — | — | — | 0.661 | 4.482 | 1.215 | |
| Ours + π³base_method=π³2026.03 | — | — | — | — | — | — | — | — | — | — | 1.022 | 4.795 | 1.552 | |
| TTT3R2026.03 | — | — | — | — | — | — | — | — | — | — | 7.162 | 4.856 | 1.419 | |
| VGGT-Long2026.03 | — | — | — | — | — | — | — | — | — | — | 0.97 | 4.176 | 0.971 | |
| VGGT*VRAM-efficient=true2026.03 | — | — | — | — | — | — | — | — | — | — | 0.793 | 5.728 | 1.085 | |
| π³2026.03 | — | — | — | — | — | — | — | — | — | — | 1.63 | 4.416 | 1.109 |