Position and Orientation Estimation on KITTI Cross-area
89.46Position Lateral Recall R@1m (%)FG^2
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| FG^2FPS=4.202026.03 | 89.46 | 7.45 | 4.03 | 99.8 | 12.42 | 55.73 | — | — | — | — | |
| HC-NetFPS=25.002026.03 | 75 | 8.47 | 4.57 | 97.76 | 58.93 | 76.46 | — | — | — | — | |
| PureACLPrior=±10°2026.06 | 67.24 | 6.2 | 0.61 | 92.76 | 64.81 | 89.69 | 4.26 | 2.48 | 23.45 | 59.24 | |
| BoostAccPrior=±10°2026.06 | 57.74 | 11.31 | 6.83 | 91.15 | 14.16 | 44.97 | 0.28 | 0.23 | 98.98 | 100 | |
| GGCVTFPS=4.172026.03 | 57.72 | — | — | 91.16 | 14.15 | 45 | — | — | — | — | |
| CIPERPrior=±180°2026.06 | 56.93 | 12.54 | 11.33 | 77.13 | 53.47 | 67.24 | 25.18 | 4.48 | 15.45 | 52.64 | |
| DenseFlowFPS=7.302026.03 | 54.19 | 7.97 | 3.52 | 91.74 | 23.1 | 61.75 | — | — | — | — | |
| VIRDBackbone=EfficientNet-B02026.03 | 45.88 | 11.12 | 5.41 | 85.49 | 14.97 | 52.55 | 22.03 | 1.87 | 30.39 | 74.87 | |
| CCVPEFPS=24.002026.03 | 44.06 | 9.16 | 3.33 | 90.23 | 23.08 | 64.31 | — | — | — | — | |
| VIRDBackbone=VGG162026.03 | 43.61 | 12.3 | 7.05 | 81.86 | 12.88 | 46.83 | 25.1 | 2.22 | 27.65 | 69.86 | |
| CIPERPrior=±10°2026.06 | 39.45 | 9.28 | 6.44 | 88.4 | 12.34 | 46.82 | 1.76 | 1.06 | 47.76 | 93.04 | |
| GeoFlowFPS=29.492026.03 | 36.36 | 8.42 | 5.6 | 83.85 | 14.76 | 52.51 | — | — | — | — | |
| SliceMatchPrior=±10°2026.06 | 32.43 | 13.5 | 9.77 | 86.44 | 8.3 | 35.57 | 4.2 | 6.61 | 46.82 | 46.82 | |
| LMPrior=±10°2026.06 | 26.96 | 12.58 | 12.12 | 72.82 | 5.2 | 26.45 | 3.95 | 3.03 | 18.52 | 70.51 | |
| SliceMatchBackbone=VGG162026.03 | 24 | 14.85 | 11.85 | 72.89 | 7.17 | 33.12 | 23.64 | 7.96 | 31.69 | 31.69 | |
| SliceMatchPrior=±180°2026.06 | 24 | 14.85 | 11.85 | 72.89 | 7.17 | 33.12 | 23.64 | 7.96 | 31.69 | 31.69 | |
| CCVPEBackbone=EfficientNet-B02026.03 | 23.42 | 13.94 | 10.98 | 60.46 | 11.81 | 42.12 | 77.84 | 63.84 | 3.14 | 14.56 | |
| DenseFlow*Backbone=ResNet182026.03 | 19.8 | 25.85 | 18.84 | 47.15 | 4.35 | 23.75 | 69.51 | 42.04 | 10.87 | 29.57 | |
| FG2*Backbone=DINOv22026.03 | 9.92 | 13.58 | 11.72 | 42.48 | 10.95 | 43.03 | 90.12 | 90.42 | 0.65 | 2.93 | |
| PureACLPrior=±180°2026.06 | 9.7 | 15.14 | 14.74 | 41.97 | 9.75 | 35.73 | 90.05 | 90.19 | 0.97 | 2.53 | |
| BoostAccPrior=±180°2026.06 | 8.71 | 20.48 | 19.17 | 39.25 | 5.6 | 21.44 | 89.85 | 89.86 | 0.53 | 2.85 | |
| HighlyAccurateBackbone=VGG162026.03 | 5.6 | 15.5 | 16.02 | 25.6 | 5.64 | 25.76 | 89.84 | 89.85 | 0.6 | 2.65 | |
| LMPrior=±180°2026.06 | 1 | 14.74 | 15.44 | 15 | 10 | 36 | 94.69 | 97.06 | 0 | 2 |