Relative pose estimation on Map-free dataset (test)
0.75VCRE AUCMicKey w/ Overlap
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| MicKey w/ OverlapSupervision=No Depth (Overlap + Pose Supervision)2024.04 | 0.75 | 49.2 | 129.4 | 1.65 | 27.2 | 119.8 | 100 | |
| MicKeySupervision=No Depth (Pose Supervision)2024.04 | 0.74 | 49.2 | 126.9 | 1.59 | 25.9 | 119.8 | 100 | |
| RoMaSupervision=Depth + Overlap + Pose, Feature Type=Dense Features2024.04 | 0.67 | 45.6 | 128.8 | 1.23 | 11.1 | 820.2 | 99.9 | |
| ASpanFormerSupervision=Depth + Overlap + Pose, Feature Type=Dense Features2024.04 | 0.64 | 36.9 | 161.7 | 1.9 | 29.2 | 177.1 | 99.9 | |
| LOFTRSupervision=Depth + Overlap + Pose, Feature Type=Dense Features2024.04 | 0.61 | 34.7 | 167.6 | 1.98 | 30.5 | 114.9 | 100 | |
| SuperPoint - SuperGlueSupervision=Depth + Overlap + Pose, Feature Type=Sparse Features2024.04 | 0.6 | 36.1 | 160.3 | 1.88 | 25.4 | 95.6 | 100 | |
| DISKSupervision=Depth + Overlap + Pose, Feature Type=Sparse Features2024.04 | 0.54 | 26.8 | 208.1 | 2.59 | 51.9 | 58.7 | 99.9 | |
| DeDoDeSupervision=Depth + Overlap + Pose, Feature Type=Sparse Features2024.04 | 0.53 | 31.2 | 167.4 | 2.02 | 30.2 | 200.3 | 88 | |
| DISK - LightGlueSupervision=Depth + Overlap + Pose, Feature Type=Sparse Features2024.04 | 0.53 | 33.2 | 138.8 | 1.44 | 18.5 | 108.5 | 77.9 | |
| SIFT2024.04 | 0.5 | 25 | 222.8 | 2.93 | 61.4 | 157.6 | 100 | |
| RPR [R(6D) + t]Supervision=No Depth (Overlap + Pose Supervision)2024.04 | 0.4 | 40.2 | 147.1 | 1.68 | 22.5 | 24.3 | 100 | |
| RPR [3D-3D]Supervision=No Depth (Overlap + Pose Supervision)2024.04 | 0.39 | 38.7 | 148.7 | 1.69 | 22.9 | 25.3 | 100 | |
| RPR [R(α, β, γ) + s.t(0, ω)]Supervision=No Depth (Overlap + Pose Supervision)2024.04 | 0.35 | 35.4 | 166.3 | 1.83 | 23.2 | 21.6 | 100 | |
| SILK2024.04 | 0.31 | 18 | 176.4 | 2.2 | 33.8 | 58.4 | 52.1 | |
| RPR [R(6D) + t] w/o OverlapSupervision=No Depth (Pose Supervision)2024.04 | 0.18 | 18.1 | 197.1 | 2.45 | 34.7 | 24.3 | 100 |