# Place Recognition on Oxford Refined Dataset

Source: [Place Recognition on Oxford Refined Dataset](<https://www.sota2.com/research/sota/place-recognition-on-oxford-refined-dataset>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T05:23:36.501Z

Evaluation of Place Recognition performance on the Oxford Refined Dataset, reporting Area Under Recall (AR) metrics.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Place Recognition |
| Dataset (including any stated split) | Oxford Refined Dataset |
| Metric | AR@1% |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 10 of 10 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [AR@1%](<https://www.sota2.com/research/sota/place-recognition-on-oxford-refined-dataset.md?metric=AR%401%25>): Higher is better; unit: PERCENT.

- [AR@1](<https://www.sota2.com/research/sota/place-recognition-on-oxford-refined-dataset.md?metric=AR%401>): Higher is better; unit: PERCENT.

## Recorded results

| Method | AR@1% | Result date | Report paper |
| --- | --- | --- | --- |
| MinkLoc3D | 99.3 | Not recorded | 68fa68bd1e209131cea1df41 |
| MinkLoc3D | 98.5 | Not recorded | 68fa68bd1e209131cea1df41 |
| LPD-Net | 96.4 | Not recorded | 68fa68bd1e209131cea1df41 |
| LPD-Net | 94.9 | Not recorded | 68fa68bd1e209131cea1df41 |
| DAGC | 93.4 | Not recorded | 68fa68bd1e209131cea1df41 |
| PointNetVLAD | 93.1 | Not recorded | 68fa68bd1e209131cea1df41 |
| PCAN | 92.3 | Not recorded | 68fa68bd1e209131cea1df41 |
| DAGC | 87.8 | Not recorded | 68fa68bd1e209131cea1df41 |
| PCAN | 86.4 | Not recorded | 68fa68bd1e209131cea1df41 |
| PointNetVLAD | 80.1 | Not recorded | 68fa68bd1e209131cea1df41 |

### MinkLoc3D

AR@1%: 99.3. Result ID: 698d820c8b517eb43322085a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa68bd1e209131cea1df41.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa68bd1e209131cea1df41.md>)

[Implementation](<https://github.com/jac99/MinkLoc3D>)

Recorded evaluation configuration: {"Training dataset":"Refined Dataset"}. This record does not assert independent reproduction.

### MinkLoc3D

AR@1%: 98.5. Result ID: 698d820c8b517eb433220850.

[Reporting paper](<https://www.sota2.com/research/paper/68fa68bd1e209131cea1df41.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa68bd1e209131cea1df41.md>)

[Implementation](<https://github.com/jac99/MinkLoc3D>)

Recorded evaluation configuration: {"Training dataset":"Refined Dataset"}. This record does not assert independent reproduction.

### LPD-Net

AR@1%: 96.4. Result ID: 698d820c8b517eb433220859.

[Reporting paper](<https://www.sota2.com/research/paper/68fa68bd1e209131cea1df41.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa66341e209131cea0ebc4.md>)

Recorded evaluation configuration: {"Training dataset":"Refined Dataset"}. This record does not assert independent reproduction.

### LPD-Net

AR@1%: 94.9. Result ID: 698d820c8b517eb43322084f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa68bd1e209131cea1df41.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa66341e209131cea0ebc4.md>)

Recorded evaluation configuration: {"Training dataset":"Refined Dataset"}. This record does not assert independent reproduction.

### DAGC

AR@1%: 93.4. Result ID: 698d820c8b517eb433220858.

[Reporting paper](<https://www.sota2.com/research/paper/68fa68bd1e209131cea1df41.md>)

Recorded evaluation configuration: {"Training dataset":"Refined Dataset"}. This record does not assert independent reproduction.

### PointNetVLAD

AR@1%: 93.1. Result ID: 698d820c8b517eb433220856.

[Reporting paper](<https://www.sota2.com/research/paper/68fa68bd1e209131cea1df41.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64641e209131cea04561.md>)

[Implementation](<https://github.com/mikacuy/pointnetvlad.git>)

Recorded evaluation configuration: {"Training dataset":"Refined Dataset"}. This record does not assert independent reproduction.

### PCAN

AR@1%: 92.3. Result ID: 698d820c8b517eb433220857.

[Reporting paper](<https://www.sota2.com/research/paper/68fa68bd1e209131cea1df41.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65a91e209131cea0bb54.md>)

Recorded evaluation configuration: {"Training dataset":"Refined Dataset"}. This record does not assert independent reproduction.

### DAGC

AR@1%: 87.8. Result ID: 698d820c8b517eb43322084e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa68bd1e209131cea1df41.md>)

Recorded evaluation configuration: {"Training dataset":"Refined Dataset"}. This record does not assert independent reproduction.

### PCAN

AR@1%: 86.4. Result ID: 698d820c8b517eb43322084d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa68bd1e209131cea1df41.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65a91e209131cea0bb54.md>)

Recorded evaluation configuration: {"Training dataset":"Refined Dataset"}. This record does not assert independent reproduction.

### PointNetVLAD

AR@1%: 80.1. Result ID: 698d820c8b517eb43322084c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa68bd1e209131cea1df41.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64641e209131cea04561.md>)

[Implementation](<https://github.com/mikacuy/pointnetvlad.git>)

Recorded evaluation configuration: {"Training dataset":"Refined Dataset"}. This record does not assert independent reproduction.

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