ResearchBenchmarksFine Localization on KITTI360Pose (val)Fine Localization on KITTI360Pose (val)Follow54Recall@k=1 (5m Error)PMSH12.423.23444.8Nov 27, 2023Apr 3, 2024Aug 10, 2024Dec 17, 2024Apr 24, 2025Aug 31, 2025Jan 7, 2026Evaluation resultsMethodMethodLinksRecall@k=1 (5m Error)Recall@k=1 (10m Error)Recall@k=1 (15m Error)Recall@k=5 (5m Error)Recall@k=5 (10m Error)Recall@k=5 (15m Error)Recall@k=10 (5m Error)Recall@k=10 (10m Error)Recall@k=10 (15m Error)PMSH2026.0154——80——87——SpatiaLoc2026.0154——81——86——Text2Loc2026.0153——87——87——MambaPlace2026.0153——88——86——CMMLoc2026.0151——86——85——RET2026.0146——74——79——Text2Pos2026.0145——73——79——Text2Loc2023.11375763688587779193RET2023.11193037446267527278Text2Pos2023.11142531365561486874