Relative Pose Estimation on 7-scenes
1.69Average Orientation Error (°)CamNet
Evaluation results
| Method | Links | |||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| CamNetfuse multiple pose predictions=true, exploit temporal information and multi-step retrieval=true2022.10 | 1.69 | 4 | 1.73 | 3 | 1.74 | 5 | 1.98 | 4 | 1.62 | 4 | 1.64 | 4 | 1.63 | 4 | 1.51 | 4 | — | — | — | |
| InCaRPoseBackbone=Large, Resolution=5122026.04 | 2.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 22 | — | 1.91 | 15 | |
| InCaRPoseBackbone=Large, Resolution=2242026.04 | 2.55 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 22 | — | 2.25 | 13 | |
| InCaRPoseBackbone=Base, Resolution=2242026.04 | 2.56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 24 | — | 2.27 | 14 | |
| InCaRPoseBackbone=Small, Resolution=2242026.04 | 2.69 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 24 | — | 2.39 | 14 | |
| CroCoPre-training=Habitat2022.10 | 3.46 | 2.4 | 2.81 | 4 | 3.86 | 3.1 | 4 | 3.4 | 2.53 | 4.9 | 2.79 | 5.5 | 3.72 | 11.7 | 4.53 | 5 | — | — | — | |
| Reloc3rResolution=512, Trained on additional data=true2026.04 | 6.37 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2.17 | — | |
| RelocNetfuse multiple pose predictions=true2022.10 | 6.74 | 12 | 4.14 | 26 | 10.44 | 14 | 10.5 | 18 | 5.32 | 26 | 4.17 | 23 | 5.08 | 28 | 7.53 | 21 | — | — | — | |
| NC-EssNetfuse multiple pose predictions=true2022.10 | 7.5 | 12 | 5.63 | 26 | 9.64 | 14 | 10.66 | 20 | 6.68 | 22 | 5.72 | 22 | 6.31 | 31 | 7.88 | 21 | — | — | — | |
| Reloc3rResolution=224, Trained on additional data=true2026.04 | 7.96 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2.45 | — | |
| MAEPre-training=Habitat2022.10 | 13.09 | 13.2 | 9.44 | 32 | 15.1 | 16 | 16.75 | 24.8 | 11.54 | 25.4 | 10.62 | 29.4 | 13.32 | 32.8 | 14.88 | 24.8 | — | — | — | |
| top1 AP-GeM-182022.10 | 14.2 | 27.9 | 12.81 | 40.4 | 16.06 | 21.6 | 16.46 | 37.5 | 12.79 | 44.4 | 12.58 | 46.7 | 13.92 | 32.2 | 14.59 | 36 | — | — | — | |
| DROID-SLAM2024.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5.66 | — | — | |
| DUSt3R2024.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 8.02 | — | — | |
| MASt3R2024.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6.28 | — | — | |
| NICER-SLAM2024.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 8.55 | — | — | |
| Relformer2026.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 6.27 | 18 | |
| RelPoseGNN2026.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5.2 | 17 | |
| RelPoseNet2026.04 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 9.3 | 21 | |
| SLAM3Rconfidence_filtering=false2024.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 8.44 | — | — | |
| SLAM3Rconfidence_filtering=true2024.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 8.41 | — | — | |
| Spann3R2024.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 11.7 | — | — |