LiDAR Localization on NCLT Average
0.31Mean Position Error (m)LEADER
Evaluation results
| Method | Links | ||
|---|---|---|---|
| LEADERMethod category=SCR2026.04 | 0.31 | 1.81 | |
| MB-LocType=SCR2026.06 | 0.91 | 2.3 | |
| DiffLocTraining Time=100h, Params=40M2025.03 | 1.06 | 2.32 | |
| DiffLocMethod category=APR2026.04 | 1.19 | 2.31 | |
| DiffLocType=APR2026.06 | 1.19 | 2.31 | |
| DiffLoc (Real-valued)Framework=DiffLoc, Method=Real-valued, Bits=322026.06 | 1.19 | 2.31 | |
| LightLocTraining Time=1h, Params=23M2025.03 | 1.46 | 2.8 | |
| LightLocType=SCR2026.06 | 1.46 | 2.8 | |
| LISATraining Time=44h, Params=105M2025.03 | 1.47 | 2.31 | |
| LiSAMethod category=SCR2026.04 | 1.51 | 2.34 | |
| LiSAType=SCR2026.06 | 1.51 | 2.34 | |
| LightLocMethod category=SCR2026.04 | 1.7 | 2.95 | |
| SGLocTraining Time=42h, Params=105M2025.03 | 1.75 | 3.46 | |
| HypLiLocTraining Time=12h, Params=52M2025.03 | 1.8 | 3.12 | |
| SGLocMethod category=SCR2026.04 | 1.83 | 3.54 | |
| SGLocType=SCR2026.06 | 1.83 | 3.54 | |
| HypLiLocMethod category=APR2026.04 | 1.95 | 3.16 | |
| HypLiLocType=APR2026.06 | 1.95 | 3.16 | |
| HypLiLocFramework=HypLiLoc, Method=Real-valued, Bits=322026.06 | 1.95 | 3.16 | |
| RALocMethod category=SCR2026.04 | 2.07 | 4.92 | |
| BiLoc (Ours)Framework=DiffLoc, Method=Ours, Bits=12026.06 | 3.14 | 4.36 | |
| DiffLoc (BHViT)Framework=DiffLoc, Method=BHViT, Bits=12026.06 | 3.56 | 4.47 | |
| NIDALocTraining Time=14h, Params=8M2025.03 | 4.4 | 3.56 | |
| NIDALocType=APR2026.06 | 4.47 | 3.53 | |
| DiffLoc (BinaryViT)Framework=DiffLoc, Method=BinaryViT, Bits=12026.06 | 4.69 | 5.48 | |
| STCLocTraining Time=14h, Params=9M2025.03 | 4.86 | 4.11 | |
| STCLocType=APR2026.06 | 5.15 | 4.18 | |
| STCLocFramework=STCLoc, Method=Real-valued, Bits=322026.06 | 5.15 | 4.18 | |
| PosePN++Training Time=8h, Params=5M2025.03 | 5.36 | 3.52 | |
| PosePN++Method category=APR2026.04 | 5.65 | 3.57 | |
| PosePN++Type=APR2026.06 | 5.65 | 3.57 | |
| PosePN++Framework=PosePN++, Method=Real-valued, Bits=322026.06 | 5.65 | 3.57 | |
| PoseMinkLocTraining Time=5h, Params=13M2025.03 | 6.17 | 4.78 | |
| PoseMinkLocType=APR2026.06 | 6.42 | 4.88 | |
| PoseMinkLocFramework=PoseMinkLoc, Method=Real-valued, Bits=322026.06 | 6.42 | 4.88 | |
| DiffLoc (ReActNet)Framework=DiffLoc, Method=ReActNet, Bits=12026.06 | 6.61 | 6.62 | |
| PointLocTraining Time=85h, Params=13M2025.03 | 7.45 | 4.58 | |
| PointLocMethod category=APR2026.04 | 7.57 | 4.6 | |
| PointLocType=APR2026.06 | 7.57 | 4.6 | |
| PointLocFramework=PointLoc, Method=Real-valued, Bits=322026.06 | 7.57 | 4.6 | |
| PosePNTraining Time=3h, Params=4M2025.03 | 8.43 | 6.31 | |
| PosePNType=APR2026.06 | 8.72 | 6.39 | |
| PosePNFramework=PosePN, Method=Real-valued, Bits=322026.06 | 8.72 | 6.39 | |
| PNVLADType=SCR2026.06 | 9.14 | 6.4 | |
| PoseSOEType=APR2026.06 | 9.27 | 6.2 | |
| PoseSOEFramework=PoseSOE, Method=Real-valued, Bits=322026.06 | 9.27 | 6.2 | |
| PoseSOETraining Time=10h, Params=5M2025.03 | 9.44 | 6.24 | |
| DCPType=SCR2026.06 | 10.67 | 6.49 |