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ResearchFormerly WizWand

Large-scale Localization on Stanford 2D-3D-S 60 rooms (4)

69Accuracy (0.1m, 5°)Cosplace + LightGlue
1730.54457.5Mar 29, 2024
Updated 8mo ago

Evaluation results

MethodLinks
Cosplace + LightGlueSearch Time (s)=0.23, Refine Time (s)=0.07, Map Size (GB)=131.112024.0369
SFRS + LightGlueSearch Time (s)=0.10, Refine Time (s)=0.07, Map Size (GB)=132.472024.0368
FGPL (Ours)Search Time (s)=0.02, Refine Time (s)=0.38, Map Size (GB)=2.562024.0364
Cosplace + GluestickSearch Time (s)=0.23, Refine Time (s)=0.21, Map Size (GB)=132.762024.0361
SFRS + GluestickSearch Time (s)=0.10, Refine Time (s)=0.21, Map Size (GB)=134.122024.0358
Cosplace + GoMatchSearch Time (s)=0.23, Refine Time (s)=0.53, Map Size (GB)=2.862024.0333
SFRS + GoMatchSearch Time (s)=0.10, Refine Time (s)=0.53, Map Size (GB)=4.222024.0323
LDLSearch Time (s)=0.24, Refine Time (s)=0.07, Map Size (GB)=129.752024.0319