ResearchBenchmarksPerspective 90° FoV image-to-map localization on ZInDFollow17Median Terr (<1m) (cm)MCL15.41826.096536.77547.4535Apr 1, 2022Evaluation ResultsMethodMethodLinksMedian Terr (<1m) (cm)Median Rerr (<1m) (deg)10cm Recall50cm Recall1m Recall1m & 30° RecallTop-3 1m RecallMCL2022.04175.0811.2830.1834.7231.4153.43LASERsemantic_information=f...semantic_information=false2022.0419.290.947.9929.8735.1531.5754.37LASERsemantic_information=truesemantic_information=true2022.0422.090.859.4251.6259.457.7776.23PfNet2022.0456.5514.240.5510.9726.7819.6338.62