ResearchBenchmarksPerspective 120° FoV image-to-map localization on ZInDPerspective 120° FoV image-to-map localization on ZInDFollow14.72Median Translational Error (cm)MCL13.156423.710734.26544.8193Apr 1, 2022Evaluation resultsMethodMethodLinksMedian Translational Error (cm)Median Rotational Error (deg)10cm Recall (%)50cm Recall (%)1m Recall (%)1m & 30° Recall (%)Top-3 1m Recall (%)MCL2022.0414.725.1717.1243.1948.1743.9666.52LASERsemantic_information=f...semantic_information=false2022.0415.560.9214.1942.4946.9943.7565.86LASERsemantic_information=truesemantic_information=true2022.0419.070.815.1865.3772.1471.0885.28PfNet2022.0453.8111.740.7414.2131.4225.9443.83