Place Recognition on NTU4D
97.2Recall@14DRaL (Teacher)
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| 4DRaL (Teacher)Modality=L2L, Runtime (ms)=1.2, Param (·10^6)=2.782026.03 | 97.2 | 97.5 | 98 | |
| 4DRaL (Teacher)Modality=L2L, Runtime (ms)=1.2, Param (10^6)=2.782026.03 | 97.2 | 97.5 | 98 | |
| 4DRaL (w/ KD)Modality=R2R, Knowledge Distillation=true, Runtime (ms)=2.6, Param (·10^6)=3.862026.03 | 96.1 | 96.3 | 96.5 | |
| RaLFModality=R2R, Runtime (ms)=2.6, Param (·10^6)=2.972026.03 | 95.2 | 95.6 | 95.8 | |
| PTC-Net-LModality=R2R, Runtime (ms)=4.2, Param (·10^6)=0.082026.03 | 95.1 | 95.9 | 96.5 | |
| TransLoc4DModality=R2R, Runtime (ms)=12.1, Param (·10^6)=3.352026.03 | 94.8 | 95.9 | 96.3 | |
| AutoplaceModality=R2R, Runtime (ms)=0.6, Param (·10^6)=2.342026.03 | 94.5 | 95.2 | 96.1 | |
| 4DRaL (w/o KD)Modality=R2R, Knowledge Distillation=false, Runtime (ms)=1.2, Param (·10^6)=2.782026.03 | 94.5 | 95.1 | 95.5 | |
| MinkLoc3Dv2Modality=R2R, Runtime (ms)=8.8, Param (·10^6)=2.662026.03 | 91.5 | 93.8 | 95.2 | |
| TransLoc3DModality=R2R, Runtime (ms)=11.2, Param (·10^6)=6.632026.03 | 87 | 90.2 | 92.6 | |
| In. Scan ContextModality=R2R, Runtime (ms)=0.2, Param (·10^6)=10^-52026.03 | 84.1 | 86.2 | 90.2 | |
| 4DRaL (w/ KD)Modality=R2L, Runtime (ms)=2.5, Param (10^6)=3.462026.03 | 34.8 | 43.5 | 48.7 | |
| RaLFModality=R2L, Runtime (ms)=2.6, Param (10^6)=2.972026.03 | 22.4 | 27.5 | 34.3 | |
| 4DRaL (w/o KD)Modality=R2L, Runtime (ms)=1.2, Param (10^6)=2.782026.03 | 16.5 | 22.5 | 28.9 | |
| Radar-to-LiDARModality=R2L, Runtime (ms)=2.0, Param (10^6)=4.282026.03 | 14.3 | 21 | 27.4 |