Centimeter-level localization on nuScenes
0.04Lateral Error MAE (m)U-ViLAR
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| U-ViLARInput View=Multi-view, Inputs=nuScenes + HD map2025.07 | 0.04 | 0.049 | 0.14 | 0.158 | 0.075 | 0.089 | |
| U-ViLARInput View=Monocular, Inputs=nuScenes + HD map2025.07 | 0.069 | 0.134 | 0.223 | 0.324 | 0.092 | 0.105 | |
| BEV-LocatorInput View=Multi-view, Inputs=nuScenes + HD map2025.07 | 0.076 | — | 0.178 | — | 0.51 | — | |
| OrienterNetInput View=Monocular, Inputs=nuScenes + HD map2025.07 | 0.079 | 0.154 | 0.279 | 0.473 | 0.114 | 0.143 |