Place Recognition on Oxford RobotCar
99.53Avg Recall @ 1%MSSPlace-LI
Evaluation results
| Method | Links | ||
|---|---|---|---|
| MSSPlace-LIDescriptor dimension=512, Sensors=L+I(A)2024.07 | 99.53 | 98.21 | |
| MSSPlace-LITDescriptor dimension=768, Sensors=L+I(A)+T(A)2024.07 | 99.53 | 98.22 | |
| MSSPlace-LISDescriptor dimension=768, Sensors=L+I(A)+S(A)2024.07 | 99.47 | 97.85 | |
| AdaFusionDescriptor dimension=256, Sensors=L+I(F)2024.07 | 99.21 | 98.18 | |
| MinkLoc++Modality=3D + RGB2021.04 | 99.1 | 96.7 | |
| MinkLoc++Descriptor dimension=256, Sensors=L+I(F)2024.07 | 99.06 | 97.15 | |
| Minkloc3Dv2Reference=ICPR 20222023.03 | 98.9 | 96.3 | |
| MinkLoc3Dv2Descriptor dimension=256, Sensors=L2024.07 | 98.9 | 96.3 | |
| CROSSLOC3D2023.03 | 98.59 | 94.36 | |
| TransLoc3DReference=preprint2023.03 | 98.5 | 95 | |
| MinkLoc++Modality=3D2021.04 | 98.2 | 93.9 | |
| PIC-NetModality=3D + RGB2021.04 | 98.2 | — | |
| PIC-NetDescriptor dimension=512, Sensors=L+I(F)2024.07 | 98.2 | — | |
| PPT-NetReference=ICCV 20212023.03 | 98.1 | 93.5 | |
| ASVT-NetSetting=baseline2021.05 | 98 | 93.9 | |
| ASVT-NetDescriptor dimension=256, Sensors=L2024.07 | 98 | 93.9 | |
| MinkLoc3Dtrained_on=Baseline Dataset2020.11 | 97.9 | — | |
| MinkLoc3DModality=3D2021.04 | 97.9 | 93.8 | |
| Minkloc3DSetting=baseline2021.05 | 97.9 | 93 | |
| Minkloc3DReference=WACV 20212023.03 | 97.9 | 93 | |
| SVT-NetSetting=baseline2021.05 | 97.8 | 93.7 | |
| SVT-NetReference=AAAI 20222023.03 | 97.8 | 93.7 | |
| SVT-NetDescriptor dimension=256, Sensors=L2024.07 | 97.8 | 93.7 | |
| CSVT-NetSetting=baseline2021.05 | 97.7 | 93.1 | |
| SOE-NetModality=3D2021.04 | 96.4 | 89.3 | |
| SOE-NetSetting=baseline2021.05 | 96.4 | — | |
| SOE-NetReference=CVPR 20212023.03 | 96.4 | — | |
| CORALModality=3D + RGB2021.04 | 96.1 | 88.9 | |
| CORALDescriptor dimension=256, Sensors=L+I(F)2024.07 | 96.1 | 88.9 | |
| FN-SF-VLADParameters=1.981M, FLOPS=749M, Runtime per frame=23.58ms2018.12 | 94.92 | 86.28 | |
| LPD-Nettrained_on=Baseline Dataset2020.11 | 94.9 | — | |
| LPD-NetModality=3D2021.04 | 94.9 | 86.4 | |
| LPD-NetSetting=baseline2021.05 | 94.9 | 86.3 | |
| LPD-NetReference=ICCV 20192023.03 | 94.9 | 86.3 | |
| EPC-NetModality=3D2021.04 | 94.7 | 86.2 | |
| SR-NetSetting=baseline2021.05 | 94.6 | 86.8 | |
| Minkloc3D-SReference=RAL 20212023.03 | 93.1 | 82 | |
| MixVPRDescriptor dimension=4096, Sensors=I(F)2024.07 | 92.6 | 88.68 | |
| FN-PC-VLADParameters=1.981M, FLOPS=753M, Runtime per frame=27.03ms2018.12 | 92.27 | 81.41 | |
| AnyLocDescriptor dimension=49152, Sensors=I(F)2024.07 | 91.25 | 82.94 | |
| FN-PM-VLADParameters=1.981M, FLOPS=749M, Runtime per frame=29.23ms2018.12 | 91.2 | 78.77 | |
| CosPlaceDescriptor dimension=256, Sensors=I(F)2024.07 | 88.86 | 83.46 | |
| EigenPlacesDescriptor dimension=256, Sensors=I(F)2024.07 | 88.79 | 83.41 | |
| DAGCtrained_on=Baseline Dataset2020.11 | 87.5 | — | |
| DAGCSetting=baseline2021.05 | 87.5 | — | |
| DH3DReference=ECCV 20202023.03 | 85.3 | 74.2 | |
| DH3D-4096trained_on=Baseline Dataset2020.11 | 84.3 | — | |
| DH3D-4096Modality=3D2021.04 | 84.3 | 73.3 | |
| PCANtrained_on=Baseline Dataset2020.11 | 83.8 | — | |
| PCANModality=3D2021.04 | 83.8 | 70.7 | |
| PCANSetting=baseline2021.05 | 83.8 | — | |
| PCANReference=CVPR 20192023.03 | 83.8 | — | |
| PN-VLAD baselineParameters=1.978M, FLOPS=411M, Runtime per frame=13.09ms2018.12 | 81.01 | 62.76 | |
| PointNetVLADtrained_on=Baseline Dataset2020.11 | 80.3 | — | |
| PointNetVLADModality=3D2021.04 | 80.3 | 63.3 | |
| PointNetVLADSetting=baseline2021.05 | 80.3 | — | |
| PointNetVLADReference=CVPR 20182023.03 | 80.3 | — | |
| NetVLADDescriptor dimension=32768, Sensors=I(F)2024.07 | 64.62 | 52.54 |