ResearchBenchmarksIntra-session Place Recognition on Oxford SteinIntra-session Place Recognition on Oxford SteinFollow87.1R@1TreeLoc2.75624.65346.5568.447Feb 2, 2026Evaluation resultsMethodMethodLinksR@1F1 ScoreAUCTreeLoc2026.0287.194.598.8BTC2026.0261.177.480.3SC++2026.0257.979.785.4RING++2026.0257.678.587.8SOLID2026.0252.775.183.2MapClosure2026.02611.46