Panorama image-to-map localization on ZInD
5.16Median Terr (<1m) [cm]LASER
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| LASERsemantic_information=true2022.04 | 5.16 | 0.47 | 0.7883 | 0.9683 | 0.9712 | 0.9699 | 98.9 | |
| LASERsemantic_information=false2022.04 | 5.66 | 0.49 | 0.6752 | 0.8681 | 0.8848 | 0.8524 | 96.17 | |
| LaLaLoc2022.04 | 10.65 | — | 0.3561 | 0.7169 | 0.76 | — | 91.62 | |
| MCL2022.04 | 11.88 | 5.6 | 0.3896 | 0.8633 | 0.9015 | 0.8521 | 98.66 | |
| PfNet2022.04 | 48.77 | 15.2 | 0.007 | 0.1921 | 0.3715 | 0.2882 | 50.58 | |
| Random2022.04 | 70.71 | 90 | 0 | 0.0061 | 0.0215 | 0.0026 | 5.71 |