Large-scale Localization on Stanford 2D-3D-S Area 1, 44 rooms (2)
61Accuracy (0.1m, 5°)SFRS + LightGlue
Evaluation Results
| Method | Links | |
|---|---|---|
| SFRS + LightGlueSearch Time (s)=0.10, Refine Time (s)=0.07, Map Size (GB)=132.472024.03 | 61 | |
| FGPL (Ours)Search Time (s)=0.02, Refine Time (s)=0.38, Map Size (GB)=2.562024.03 | 61 | |
| Cosplace + LightGlueSearch Time (s)=0.23, Refine Time (s)=0.07, Map Size (GB)=131.112024.03 | 58 | |
| Cosplace + GluestickSearch Time (s)=0.23, Refine Time (s)=0.21, Map Size (GB)=132.762024.03 | 58 | |
| SFRS + GluestickSearch Time (s)=0.10, Refine Time (s)=0.21, Map Size (GB)=134.122024.03 | 58 | |
| Cosplace + GoMatchSearch Time (s)=0.23, Refine Time (s)=0.53, Map Size (GB)=2.862024.03 | 27 | |
| LDLSearch Time (s)=0.24, Refine Time (s)=0.07, Map Size (GB)=129.752024.03 | 26 | |
| SFRS + GoMatchSearch Time (s)=0.10, Refine Time (s)=0.53, Map Size (GB)=4.222024.03 | 23 |