Camera Relocalization on 7Scenes (Per-Scene Error)
0.5Translation Error (Chess Scene)STDLoc
Evaluation Results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| STDLocMap Type=3DGS, Map Size=~0.8 GB, Mapping Time=~ 2 h, Visual Cues=true, Pose Prior=false2026.03 | 0.5 | 0.2 | 0.6 | 0.2 | 0.4 | 0.3 | 1 | 0.2 | 1 | 0.2 | 0.6 | 0.2 | 1 | 0.4 | 0.8 | 0.2 | |
| ACEMap Type=Network, Map Size=5 MB, Mapping Time=5 min, Visual Cues=true, Pose Prior=false2026.03 | 0.6 | 0.2 | 0.8 | 0.3 | 0.5 | 0.3 | 1 | 0.3 | 1 | 0.2 | 0.8 | 0.2 | 3 | 0.8 | 1 | 0.3 | |
| HLoc(SP+SG)Map Type=SfM points, Map Size=~2 GB, Mapping Time=~ 1.5 h, Visual Cues=true, Pose Prior=true2026.03 | 2 | 0.8 | 2 | 0.9 | 1 | 0.8 | 3 | 0.9 | 5 | 1.3 | 4 | 1.4 | 5 | 1.5 | 3 | 1.1 | |
| Reloc3rMap Type=Ref. images, Map Size=~1.6 GB, Mapping Time=7 s, Visual Cues=true, Pose Prior=true2026.03 | 3 | 0.9 | 3 | 0.8 | 1 | 1 | 4 | 0.9 | 6 | 1.1 | 4 | 1.3 | 7 | 1.3 | 4 | 1 | |
| GoMatch(SP)Map Type=SfM points, Map Size=~56 MB, Mapping Time=~ 1.5 h, Visual Cues=true, Pose Prior=true2026.03 | 4 | 1.6 | 12 | 3.7 | 5 | 3.4 | 7 | 1.8 | 8 | 5.7 | 14 | 3 | 58 | 13.1 | 18 | 4.6 | |
| PoseNet17Map Type=Network, Map Size=50 MB, Mapping Time=4 h–24 h, Visual Cues=true, Pose Prior=false2026.03 | 13 | 4.5 | 27 | 11.3 | 17 | 13 | 19 | 5.6 | 26 | 4.8 | 23 | 5.4 | 35 | 12.4 | 23 | 8.1 | |
| PlanaReLocMap Type=Planes, Map Size=0.4 MB, Mapping Time=2 min, Visual Cues=false, Pose Prior=false2026.03 | 26 | 3.7 | 19 | 3.8 | 32 | 3.7 | 19 | 3.6 | 27 | 2.6 | 43 | 3.3 | 61 | 6.2 | 32 | 3.9 |