Place Recognition on GrandTour quadruped ANYmal (various sites (LEE-1, ARC-1, GRI-1, SBB-1->2))
44.4Recall@1 (LEE-1 Site)HeLiOS
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| HeLiOSSupervised zero-shot=true2026.07 | 44.4 | 31.9 | 44.4 | 35.2 | 46.3 | 39.3 | 59 | 28.2 | 48.5 | 33.7 | |
| HeLiOSSupervised zero-shot=true2026.07 | 44.4 | 31.9 | 44.4 | 35.2 | 46.3 | 39.3 | 59 | 28.2 | 48.5 | 33.7 | |
| BEVP++Supervised zero-shot=true2026.07 | 37.5 | 27.8 | 70.4 | 49.1 | 63.2 | 39.9 | 75.6 | 27.6 | 61.7 | 36.1 | |
| BEVP++Supervised zero-shot=true2026.07 | 37.5 | 27.8 | 70.4 | 49.1 | 63.2 | 39.9 | 75.6 | 27.6 | 61.7 | 36.1 | |
| UniLGLSupervised zero-shot=true2026.07 | 30.6 | 33.3 | 61.1 | 51.9 | 43.4 | 29.2 | 56.4 | 24.4 | 47.9 | 34.7 | |
| UniLGLSupervised zero-shot=true2026.07 | 30.6 | 33.3 | 61.1 | 51.9 | 43.4 | 29.2 | 56.4 | 24.4 | 47.9 | 34.7 | |
| SC++2026.07 | 26.4 | 20.8 | 61.1 | 39.8 | 44.9 | 29.4 | 67.9 | 35.9 | 50.1 | 31.5 | |
| SOLiD2026.07 | 26.4 | 29.9 | 50 | 25 | 38.9 | 28.5 | 50 | 22.4 | 41.3 | 26.5 | |
| SC++2026.07 | 26.4 | 20.8 | 61.1 | 39.8 | 44.9 | 29.4 | 67.9 | 35.9 | 50.1 | 31.5 | |
| SOLiD2026.07 | 26.4 | 29.9 | 50 | 25 | 38.9 | 28.5 | 50 | 22.4 | 41.3 | 26.5 | |
| G-PROBE2026.07 | 23.6 | 22.2 | 61.1 | 55.6 | 55.6 | 50.7 | 66.7 | 32.7 | 51.8 | 40.3 | |
| G-PROBE2026.07 | 23.6 | 22.2 | 61.1 | 55.6 | 55.6 | 50.7 | 66.7 | 32.7 | 51.8 | 40.3 | |
| PROBE2026.07 | 22.2 | 26.4 | 63 | 51.9 | 44.9 | 44.7 | 67.9 | 34.6 | 49.5 | 39.4 | |
| PROBE2026.07 | 22.2 | 26.4 | 63 | 51.9 | 44.9 | 44.7 | 67.9 | 34.6 | 49.5 | 39.4 | |
| RING++2026.07 | 13.9 | 15.3 | 48.1 | 34.3 | 35.8 | 24.7 | 69.2 | 19.2 | 41.8 | 23.4 | |
| RING++2026.07 | 13.9 | 15.3 | 48.1 | 34.3 | 35.8 | 24.7 | 69.2 | 19.2 | 41.8 | 23.4 |