Centimeter-level localization on SRoad
0.11Lateral Position Error MAE (m)U-ViLAR
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| U-ViLARInput View=Multi-view, Inputs=SRoad + HD map2025.07 | 0.11 | 0.136 | 0.284 | 0.322 | 0.09 | 0.124 | |
| U-ViLARInput View=Monocular, Inputs=SRoad + HD map2025.07 | 0.165 | 0.193 | 0.39 | 0.484 | 0.122 | 0.154 | |
| OrienterNetInput View=Monocular, Inputs=SRoad + HD map2025.07 | 0.186 | 0.241 | 0.492 | 0.724 | 0.16 | 0.245 | |
| ICP-basedInput View=Multi-view, Inputs=SRoad + HD map2025.07 | 0.204 | 0.32 | 0.614 | 1.106 | 0.186 | 0.204 |