ResearchBenchmarksPerspective 90° FoV image-to-map localization on Structured3D Furnishing-Level FullPerspective 90° FoV image-to-map localization on Structured3D Furnishing-Level FullFollow12.99Median Translational Error (1m) [cm]LASER11.109623.802336.49549.1877Apr 1, 2022Evaluation resultsMethodMethodLinksMedian Translational Error (1m) [cm]Median Rotational Error (1m) [deg]Recall @ 10cmRecall @ 50cmRecall @ 1mRecall @ 1m & 30°Top-3 Recall @ 1mLASERsemantic_information=truesemantic_information=true2022.0412.990.6420.8653.5156.2854.2176.31MCL2022.0415.416.149.5522.6326.8120.3346.91LASERsemantic_information=f...semantic_information=false2022.0425.110.873.8322.0427.5818.7451.27PfNet2022.046012.490.598.7824.3418.7434.41