Place Recognition on SJTU4D (test A)
93.8Recall@14DRaL (Teacher)
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| 4DRaL (Teacher)Modality=L2L, Runtime (ms)=1.2, Param (·10^6)=2.782026.03 | 93.8 | 94.4 | 94.5 | |
| 4DRaL (Teacher)Modality=L2L, Runtime (ms)=1.2, Param (10^6)=2.782026.03 | 93.8 | 94.4 | 94.5 | |
| 4DRaL (w/ KD)Modality=R2R, Knowledge Distillation=true, Runtime (ms)=2.6, Param (·10^6)=3.862026.03 | 91.6 | 93.4 | 94 | |
| TransLoc4DModality=R2R, Runtime (ms)=12.1, Param (·10^6)=3.352026.03 | 90.8 | 92.9 | 93.4 | |
| RaLFModality=R2R, Runtime (ms)=2.6, Param (·10^6)=2.972026.03 | 89.1 | 92.5 | 93.5 | |
| MinkLoc3Dv2Modality=R2R, Runtime (ms)=8.8, Param (·10^6)=2.662026.03 | 88.6 | 93.2 | 94 | |
| 4DRaL (w/o KD)Modality=R2R, Knowledge Distillation=false, Runtime (ms)=1.2, Param (·10^6)=2.782026.03 | 86.7 | 90.2 | 91.5 | |
| AutoplaceModality=R2R, Runtime (ms)=0.6, Param (·10^6)=2.342026.03 | 80.5 | 88.8 | 91.2 | |
| PTC-Net-LModality=R2R, Runtime (ms)=4.2, Param (·10^6)=0.082026.03 | 79.8 | 89.6 | 91.4 | |
| TransLoc3DModality=R2R, Runtime (ms)=11.2, Param (·10^6)=6.632026.03 | 75.6 | 89.2 | 92.2 | |
| In. Scan ContextModality=R2R, Runtime (ms)=0.2, Param (·10^6)=10^-52026.03 | 67.9 | 79.8 | 83.7 | |
| 4DRaL (w/ KD)Modality=R2L, Runtime (ms)=2.5, Param (10^6)=3.462026.03 | 38.2 | 49.8 | 58.1 | |
| RaLFModality=R2L, Runtime (ms)=2.6, Param (10^6)=2.972026.03 | 27.4 | 40.8 | 46.8 | |
| 4DRaL (w/o KD)Modality=R2L, Runtime (ms)=1.2, Param (10^6)=2.782026.03 | 13.3 | 27.2 | 36.3 | |
| Radar-to-LiDARModality=R2L, Runtime (ms)=2.0, Param (10^6)=4.282026.03 | 4 | 7.1 | 13 |