Place recognition on CS-Wild-Places Karawatha (baseline set)
67.5Recall@1 (10m)HOTFLoc++
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| HOTFLoc++Re-Ranker=SGV [1], Global descriptor dimension=256-d, Voxel size=0.4 m2025.11 | 67.5 | 82.4 | 85.9 | 89 | |
| HOTFLoc++Re-Ranker=MSGV (Ours), Global descriptor dimension=256-d, Voxel size=0.4 m2025.11 | 66.1 | 81.1 | 81.6 | 88.2 | |
| EgoNNRe-Ranker=SGV [1], Global descriptor dimension=256-d, Voxel size=0.4 m2025.11 | 48.6 | 68.3 | 64.6 | 79.7 | |
| HOTFLoc++Re-Ranker=None, Global descriptor dimension=256-d, Voxel size=0.4 m2025.11 | 44.4 | 71.2 | 72 | 84.1 | |
| HOTFormerLocRe-Ranker=None, Global descriptor dimension=256-d, Voxel size=0.4 m2025.11 | 34.4 | 61.5 | 57 | 72.1 | |
| EgoNNRe-Ranker=None, Global descriptor dimension=256-d, Voxel size=0.4 m2025.11 | 34.3 | 61.4 | 60 | 76.2 | |
| MinkLoc3Dv2Re-Ranker=None, Global descriptor dimension=256-d, Voxel size=0.4 m2025.11 | 31.1 | 54.2 | 56.1 | 70.2 | |
| LoGG3D-NetRe-Ranker=SGV [1], Global descriptor dimension=1024-d, Voxel size=0.8 m2025.11 | 28.9 | 45.1 | 45.8 | 55.3 | |
| LoGG3D-NetRe-Ranker=None, Global descriptor dimension=1024-d, Voxel size=0.8 m2025.11 | 18.7 | 37.7 | 33.7 | 50.8 |