ResearchBenchmarksLoop Closure Detection on Park-mapping (Underground)Loop Closure Detection on Park-mapping (Underground)Follow73.39Precision@2mVVLoc-V57.436461.578265.7269.8618Jan 31, 2026Evaluation resultsMethodMethodLinksPrecision@2mRecall@2mCFERVVLoc-Vpooling=vDISCOpooling=vDISCO2026.0173.3968.440.01vDISCO2026.0168.7768.510.16VVLoc-Gpooling=GeMpooling=GeM2026.0165.1368.110.26BEV-CV2026.0158.0566.731.13