Place Recognition on HeRCULES Multi-session
94.9Retrieval Rate @1 (SC 01->02)SSD
Evaluation Results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| SSDEvaluation Setting=Homogeneous-4D: 4D query vs 4D database2026.06 | 94.9 | 96.3 | 94.2 | 97.3 | 96.4 | 99.6 | 95.9 | 98.7 | 95.4 | |
| SHerLocEvaluation Setting=Homogeneous-4D: 4D query vs 4D database2026.06 | 90.4 | 96.1 | 84.3 | 94.9 | 95 | 99.5 | 92.3 | 98.8 | 90.5 | |
| SHerLoc-SEvaluation Setting=Homogeneous-4D: 4D query vs 4D database2026.06 | 86.6 | 94.5 | 80.3 | 92.5 | 91.4 | 98.6 | 90.8 | 98.8 | 87.3 | |
| SSDEvaluation Setting=Heterogeneous: 4D query vs spinning database2026.06 | 83.8 | 90.7 | 70 | 81.8 | 86.3 | 94.8 | 66.3 | 85.8 | 76.6 | |
| MinkLoc3Dv2Evaluation Setting=Homogeneous-4D: 4D query vs 4D database2026.06 | 83.7 | 98.2 | 74.3 | 97.7 | 72.5 | 98.1 | 61.9 | 96.3 | 73.5 | |
| TransLoc4DEvaluation Setting=Homogeneous-4D: 4D query vs 4D database2026.06 | 83.3 | 97 | 80.4 | 97.6 | 80.1 | 99.1 | 67.6 | 94 | 77.9 | |
| SHerLocEvaluation Setting=Heterogeneous: 4D query vs spinning database2026.06 | 81.2 | 89.3 | 65 | 75.9 | 81.7 | 88.7 | 61 | 74.3 | 72.2 | |
| AutoplaceEvaluation Setting=Homogeneous-4D: 4D query vs 4D database2026.06 | 79.9 | 96.7 | 72.5 | 94.5 | 81.2 | 98.6 | 61.9 | 90.1 | 73.8 | |
| SHerLoc-SEvaluation Setting=Heterogeneous: 4D query vs spinning database2026.06 | 79.6 | 89 | 58 | 69.6 | 82.2 | 89.2 | 61.8 | 75.7 | 70.4 | |
| RaPlaceEvaluation Setting=Heterogeneous: 4D query vs spinning database2026.06 | 2.4 | 5.6 | 1.6 | 5.7 | 2.1 | 4.4 | 1.1 | 2.3 | 1.8 | |
| RadVLADEvaluation Setting=Heterogeneous: 4D query vs spinning database2026.06 | 1.1 | 11.8 | 0.5 | 21.4 | 1.2 | 13.8 | 1.1 | 7.3 | 1 | |
| AutoplaceEvaluation Setting=Heterogeneous: 4D query vs spinning database2026.06 | 0.7 | 7.1 | 1.2 | 7 | 2.2 | 12.9 | 0.7 | 11.9 | 1.2 | |
| FFT-RadVLADEvaluation Setting=Heterogeneous: 4D query vs spinning database2026.06 | 0.6 | 12.1 | 0.7 | 18.2 | 1.5 | 21.7 | 1.6 | 13.6 | 1.1 |