ResearchBenchmarksPerspective 60° FoV image-to-map localization on ZInD (test)Perspective 60° FoV image-to-map localization on ZInD (test)Follow21.72Median Terr (<1m)MCL20.056431.285742.51553.7443Apr 1, 2022Evaluation resultsMethodMethodLinksMedian Terr (<1m)Median Rerr (<1m)Recall @ 10cmRecall @ 50cmRecall @ 1mRecall @ 1m & 30°Top-3 Recall @ 1mMCL2022.0421.725.46.0518.6623.5820.1339.76LASERsemantic_information=f...semantic_information=false2022.0426.221.273.5619.424.9420.9542.46LASERsemantic_information=truesemantic_information=true2022.0429.391.214.6134.4244.342.161.88PfNet2022.0463.3123.480.215.2315.869.1924.87