Place Recognition on SJTU4D B (test)
89Recall@14DRaL (Teacher)
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| 4DRaL (Teacher)Modality=L2L, Runtime (ms)=1.2, Param (·10^6)=2.782026.03 | 89 | 90.2 | 92.4 | |
| 4DRaL (Teacher)Modality=L2L, Runtime (ms)=1.2, Param (10^6)=2.782026.03 | 89 | 90.2 | 92.4 | |
| 4DRaL (w/ KD)Modality=R2R, Knowledge Distillation=true, Runtime (ms)=2.6, Param (·10^6)=3.862026.03 | 86.3 | 89.8 | 90.3 | |
| TransLoc4DModality=R2R, Runtime (ms)=12.1, Param (·10^6)=3.352026.03 | 85.9 | 88.7 | 90.5 | |
| MinkLoc3Dv2Modality=R2R, Runtime (ms)=8.8, Param (·10^6)=2.662026.03 | 85.8 | 87.9 | 88.9 | |
| 4DRaL (w/o KD)Modality=R2R, Knowledge Distillation=false, Runtime (ms)=1.2, Param (·10^6)=2.782026.03 | 84.4 | 86.8 | 87.7 | |
| RaLFModality=R2R, Runtime (ms)=2.6, Param (·10^6)=2.972026.03 | 84.2 | 87 | 87.2 | |
| PTC-Net-LModality=R2R, Runtime (ms)=4.2, Param (·10^6)=0.082026.03 | 80.3 | 85.3 | 86.8 | |
| AutoplaceModality=R2R, Runtime (ms)=0.6, Param (·10^6)=2.342026.03 | 80.2 | 84.9 | 86.5 | |
| TransLoc3DModality=R2R, Runtime (ms)=11.2, Param (·10^6)=6.632026.03 | 79.3 | 86 | 87.5 | |
| In. Scan ContextModality=R2R, Runtime (ms)=0.2, Param (·10^6)=10^-52026.03 | 78 | 86.5 | 90.2 | |
| 4DRaL (w/ KD)Modality=R2L, Runtime (ms)=2.5, Param (10^6)=3.462026.03 | 75.5 | 80.3 | 83.2 | |
| RaLFModality=R2L, Runtime (ms)=2.6, Param (10^6)=2.972026.03 | 49.6 | 64.8 | 68.1 | |
| 4DRaL (w/o KD)Modality=R2L, Runtime (ms)=1.2, Param (10^6)=2.782026.03 | 32.3 | 46.1 | 53.5 | |
| Radar-to-LiDARModality=R2L, Runtime (ms)=2.0, Param (10^6)=4.282026.03 | 19.8 | 36.3 | 39.6 |