Large-scale Localization on OmniScenes 7 rooms (1)
76Accuracy (0.1m, 5°)FGPL (Ours)
Evaluation results
| Method | Links | |
|---|---|---|
| FGPL (Ours)Search Time (s)=0.02, Refine Time (s)=0.38, Map Size (GB)=2.562024.03 | 76 | |
| Cosplace + LightGluePose Search=Cosplace, Refinement=LightGlue, Search Time (s)=0.23, Refine Time (s)=0.07, Map Size (GB)=131.112024.03 | 66 | |
| Cosplace + GluestickPose Search=Cosplace, Refinement=Gluestick, Search Time (s)=0.23, Refine Time (s)=0.21, Map Size (GB)=132.762024.03 | 61 | |
| SFRS + LightGluePose Search=SFRS, Refinement=LightGlue, Search Time (s)=0.10, Refine Time (s)=0.07, Map Size (GB)=132.472024.03 | 60 | |
| LDLPose Search=LDL, Refinement=LDL, Search Time (s)=0.24, Refine Time (s)=0.07, Map Size (GB)=129.752024.03 | 54 | |
| SFRS + GluestickPose Search=SFRS, Refinement=Gluestick, Search Time (s)=0.10, Refine Time (s)=0.21, Map Size (GB)=134.122024.03 | 47 | |
| Cosplace + GoMatchPose Search=Cosplace, Refinement=GoMatch, Search Time (s)=0.23, Refine Time (s)=0.53, Map Size (GB)=2.862024.03 | 25 | |
| SFRS + GoMatchPose Search=SFRS, Refinement=GoMatch, Search Time (s)=0.10, Refine Time (s)=0.53, Map Size (GB)=4.222024.03 | 7 |