ResearchBenchmarksPerspective 60° FoV image-to-map localization on Structured3D Furnishing-Level: FullFollow16.97Median terr (<1m) [cm]LASER15.19827.15939.1251.081Apr 1, 2022Evaluation ResultsMethodMethodLinksMedian terr (<1m) [cm]Median rerr (<1m) [deg]Recall @ 10cmRecall @ 50cmRecall @ 1mRecall @ 1m & 30degTop-3 Recall @ 1mLASERsemantic_information=truesemantic_information=true2022.0416.970.9811.0241.4845.9643.1365.65MCL2022.0421.797.55.4814.518.812.7935.12LASERsemantic_information=f...semantic_information=false2022.0432.951.531.8916.9723.6914.6746.38PfNet2022.0461.2717.60.356.0116.9111.226.75