Place Recognition on HeLiPR Single-Session KAIST05 DB → KAIST05 Query 1.0
96.2Mean AUCBEVP++†
Evaluation Results
| Method | Links | |
|---|---|---|
| BEVP++†Database Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Supervised2026.07 | 96.2 | |
| BEVP++Database Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=supervised2026.07 | 96.2 | |
| G-PROBEDatabase Sensor=Aeva (120°), Query Sensor=Aeva (120°), Supervision=Learning-free2026.07 | 87.3 | |
| G-PROBEDatabase Sensor=Aeva (120°), Query Sensor=Aeva (120°), Supervision=Zero-shot2026.07 | 87.3 | |
| PROBEDatabase Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Learning-free2026.07 | 87.1 | |
| PROBEDatabase Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Learning-free2026.07 | 87.1 | |
| G-PROBEDatabase Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Learning-free2026.07 | 86.2 | |
| G-PROBEDatabase Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Zero-shot2026.07 | 86.2 | |
| SC++Database Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Learning-free2026.07 | 85.9 | |
| SC++Database Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Learning-free2026.07 | 85.9 | |
| G-PROBEDatabase Sensor=Avia (70°), Query Sensor=Avia (70°), Supervision=Learning-free2026.07 | 80.8 | |
| G-PROBEDatabase Sensor=Avia (70°), Query Sensor=Avia (70°), Supervision=Zero-shot2026.07 | 80.8 | |
| UniLGL†Database Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Supervised2026.07 | 72 | |
| UniLGLDatabase Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=supervised2026.07 | 72 | |
| HeLiOS†Database Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Supervised2026.07 | 71.8 | |
| HeLiOSDatabase Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=supervised2026.07 | 71.8 | |
| RING++Database Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Learning-free2026.07 | 66.1 | |
| RING++Database Sensor=Ouster (360°), Query Sensor=Ouster (360°), Supervision=Learning-free2026.07 | 66.1 | |
| G-PROBEDatabase Sensor=Ouster (360°), Query Sensor=Aeva (120°), Supervision=Learning-free2026.07 | 48.8 | |
| G-PROBEDatabase Sensor=Ouster (360°), Query Sensor=Aeva (120°), Supervision=Zero-shot2026.07 | 48.8 | |
| G-PROBEDatabase Sensor=Avia (70°), Query Sensor=Aeva (120°), Supervision=Zero-shot2026.07 | 42.2 | |
| G-PROBEDatabase Sensor=Aeva (120°), Query Sensor=Avia (70°), Supervision=Zero-shot2026.07 | 42.1 | |
| G-PROBEDatabase Sensor=Aeva (120°), Query Sensor=Ouster (360°), Supervision=Zero-shot2026.07 | 41.3 | |
| G-PROBEDatabase Sensor=Ouster (360°), Query Sensor=Avia (70°), Supervision=Learning-free2026.07 | 32.9 | |
| G-PROBEDatabase Sensor=Ouster (360°), Query Sensor=Avia (70°), Supervision=Zero-shot2026.07 | 32.9 | |
| G-PROBEDatabase Sensor=Avia (70°), Query Sensor=Ouster (360°), Supervision=Zero-shot2026.07 | 27.2 |