Camera Relocalization on 7-Scenes dSLAM GT (test)
7Median Translation Error (cm)DFNet + NeFeS50—— (dSLAM)
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| DFNet + NeFeS50—— (dSLAM)refinement=NeFeS, joint_optimization=true2023.03 | 7 | 2.87 | |
| CoordiNet+LENSmode=single-frame APR2023.03 | 8 | 3 | |
| DFNet + NeFeS50 (dSLAM)refinement=NeFeS, joint_optimization=false2023.03 | 8 | 2.8 | |
| DFNetmode=single-frame APR2023.03 | 12 | 3.71 | |
| MS-Transformer+PAEmode=single-frame APR2023.03 | 15 | 7.28 | |
| TransPoseNetmode=single-frame APR2023.03 | 18 | 7.78 | |
| MS-Transformermode=single-frame APR2023.03 | 18 | 7.28 | |
| Direct-PNmode=single-frame APR2023.03 | 20 | 7.26 | |
| MapNetmode=single-frame APR2023.03 | 21 | 7.77 | |
| CoordiNetmode=single-frame APR2023.03 | 22 | 9.7 | |
| geo. PNmode=single-frame APR2023.03 | 23 | 8.12 | |
| Hourglass PNmode=single-frame APR2023.03 | 23 | 9.53 | |
| PN Learn σ²mode=single-frame APR2023.03 | 24 | 7.87 | |
| BranchNetmode=single-frame APR2023.03 | 29 | 8.3 | |
| LSTM PNmode=single-frame APR2023.03 | 31 | 9.85 | |
| PoseNet (PN)mode=single-frame APR2023.03 | 44 | 10.4 |