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ResearchFormerly WizWand

Place Recognition on HeLiPR Single-Session KAIST05 DB → KAIST05 Query 1.0

96.2Mean AUCBEVP++†
24.4443.0761.780.33Jul 7, 2026
Updated 3mo ago

Evaluation results

MethodLinks
BEVP++†Database Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Supervised2026.0796.2
BEVP++Database Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=supervised2026.0796.2
G-PROBEDatabase Sensor=Aeva (120°), Query Sensor=Aeva (120°), Supervision=Learning-free2026.0787.3
G-PROBEDatabase Sensor=Aeva (120°), Query Sensor=Aeva (120°), Supervision=Zero-shot2026.0787.3
PROBEDatabase Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Learning-free2026.0787.1
PROBEDatabase Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Learning-free2026.0787.1
G-PROBEDatabase Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Learning-free2026.0786.2
G-PROBEDatabase Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Zero-shot2026.0786.2
SC++Database Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Learning-free2026.0785.9
SC++Database Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Learning-free2026.0785.9
G-PROBEDatabase Sensor=Avia (70°), Query Sensor=Avia (70°), Supervision=Learning-free2026.0780.8
G-PROBEDatabase Sensor=Avia (70°), Query Sensor=Avia (70°), Supervision=Zero-shot2026.0780.8
UniLGL†Database Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Supervised2026.0772
UniLGLDatabase Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=supervised2026.0772
HeLiOS†Database Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Supervised2026.0771.8
HeLiOSDatabase Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=supervised2026.0771.8
RING++Database Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Learning-free2026.0766.1
RING++Database Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Learning-free2026.0766.1
G-PROBEDatabase Sensor=Ouster (360°), Query Sensor=Aeva (120°), Supervision=Learning-free2026.0748.8
G-PROBEDatabase Sensor=Ouster (360°), Query Sensor=Aeva (120°), Supervision=Zero-shot2026.0748.8
G-PROBEDatabase Sensor=Avia (70°), Query Sensor=Aeva (120°), Supervision=Zero-shot2026.0742.2
G-PROBEDatabase Sensor=Aeva (120°), Query Sensor=Avia (70°), Supervision=Zero-shot2026.0742.1
G-PROBEDatabase Sensor=Aeva (120°), Query Sensor=Ouster (360°), Supervision=Zero-shot2026.0741.3
G-PROBEDatabase Sensor=Ouster (360°), Query Sensor=Avia (70°), Supervision=Learning-free2026.0732.9
G-PROBEDatabase Sensor=Ouster (360°), Query Sensor=Avia (70°), Supervision=Zero-shot2026.0732.9
G-PROBEDatabase Sensor=Avia (70°), Query Sensor=Ouster (360°), Supervision=Zero-shot2026.0727.2