Relative Pose Estimation on MegaDepth 1500
89.34AUC @ 20°MultiLoc-518
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| MultiLoc-518Regression Category=PR, Resolution=518, Input configuration=multi-view support, Evaluation protocol=Zero-shot generalization2026.03 | 89.34 | 68.42 | 81.16 | — | |
| RoMa v2Matching category=Dense Matchers2026.04 | 86.6 | 62.8 | 77 | — | |
| RoMa v2Model Type=feature matcher2025.11 | 86.6 | 62.8 | 77 | — | |
| RoMaMethod Type=Dense2025.05 | 86.3 | 62.6 | 76.7 | — | |
| ROMACategory=Non-PR2024.12 | 86.3 | 62.6 | 76.7 | — | |
| ROMARANSAC algorithm=RANSAC, Venue=CVPR242025.04 | 86.3 | 62.6 | 76.7 | — | |
| DenseAffineRANSAC algorithm=affine GC-RANSAC2025.04 | 86.3 | 65.5 | 77.9 | — | |
| ROMAMethod Category=Non-RPR, FPS=32026.03 | 86.3 | 62.6 | 76.7 | — | |
| ROMARegression Category=Non-PR2026.03 | 86.3 | 62.6 | 76.7 | — | |
| RoMaMatching category=Dense Matchers2026.04 | 86.3 | 62.6 | 76.7 | — | |
| RoMaModel Type=feature matcher2025.11 | 86.3 | 62.6 | 76.7 | — | |
| ALIKED+OursDetector=XFeat2026.02 | 86 | 62.7 | 76.5 | — | |
| ALIKED+OursDetector=R2D2-SS2026.02 | 85.8 | 63.4 | 76.3 | — | |
| Ours-U128Category=Standard2026.01 | 85.77 | 64.75 | 77.15 | — | |
| Specialist LGDetector=R2D2-SS2026.02 | 85.7 | 64.1 | 76.8 | — | |
| ALIKED+LightGlueDetector=XFeat2026.02 | 85.6 | 62.3 | 76 | — | |
| SP+OursDetector=R2D2-SS2026.02 | 85.4 | 63.2 | 76 | — | |
| DenseAffineRANSAC algorithm=RANSAC2025.04 | 85.2 | 63.1 | 76.3 | — | |
| DISK+OursDetector=XFeat2026.02 | 85.2 | 62 | 75.6 | — | |
| DKMMethod Type=Dense2025.05 | 85.1 | 60.4 | 74.9 | — | |
| DKMRANSAC algorithm=RANSAC, Venue=CVPR232025.04 | 85.1 | 60.4 | 74.9 | — | |
| SP+OursDetector=XFeat2026.02 | 85.1 | 60.8 | 75.1 | — | |
| DKMModel Type=feature matcher2025.11 | 85.1 | 60.4 | 74.9 | — | |
| DeDoDe-GCategory=Standard2026.01 | 84.91 | 63.73 | 76.13 | — | |
| Specialist LGDetector=XFeat2026.02 | 84.8 | 60.7 | 74.9 | — | |
| GIM+SP+LightGlueDetector=R2D2-SS, GIM Training=Fine-tuned with SIFT2026.02 | 84.6 | 62.4 | 75.2 | — | |
| SP+LightGlueDetector=R2D2-SS2026.02 | 84.6 | 62.7 | 75.4 | — | |
| ALIKED+OursDetector=SIFT2026.02 | 84.4 | 60.1 | 74.4 | — | |
| GIM+SP+LightGlueDetector=XFeat, GIM Training=Fine-tuned with SIFT2026.02 | 84.3 | 60 | 74.4 | — | |
| LoMa-LMatching category=Sparse Matchers, Number of keypoints=40962026.04 | 84.3 | 56.5 | 72.7 | — | |
| SP+LightGlueDetector=XFeat2026.02 | 84.1 | 59.6 | 74 | — | |
| LoMa-GMatching category=Sparse Matchers, Number of keypoints=40962026.04 | 84 | 56.1 | 72.2 | — | |
| ALIKED+LightGlueDetector=R2D2-SS2026.02 | 83.9 | 61.6 | 74.5 | — | |
| Ours-E128Category=Standard2026.01 | 83.72 | 62.84 | 75.16 | — | |
| LoMa-BMatching category=Sparse Matchers, Number of keypoints=40962026.04 | 83.6 | 55.7 | 71.8 | — | |
| NoRotEvaluation Protocol=Non-rotated2026.04 | 83.6 | 55.4 | 71.7 | — | |
| ELOFTRMethod Type=Semi-Dense2025.05 | 83.5 | 56.4 | 72.2 | — | |
| Efficient LoFTRCategory=Non-PR2024.12 | 83.5 | 56.4 | 72.2 | — | |
| GIM+SP+LightGlueDetector=Dedode(w/ nms), GIM Training=Fine-tuned with SIFT2026.02 | 83.5 | 57.6 | 72.7 | — | |
| Efficient LoFTRMethod Category=Non-RPR, FPS=372026.03 | 83.5 | 56.4 | 72.2 | — | |
| RotMatchEvaluation Protocol=Non-rotated2026.04 | 83.4 | 55.3 | 71.5 | — | |
| SP+OursDetector=SIFT2026.02 | 83.3 | 58 | 72.4 | — | |
| LoMa-B128Matching category=Sparse Matchers, Number of keypoints=40962026.04 | 83.2 | 55.1 | 71.2 | — | |
| RotDesc&MatchEvaluation Protocol=Non-rotated2026.04 | 83.2 | 55 | 71.1 | — | |
| ASpanFormerMethod Type=Semi-Dense2025.05 | 83.1 | 55.3 | 71.5 | — | |
| ASpanFormerRANSAC algorithm=RANSAC, Venue=ECCV222025.04 | 83.1 | 55.3 | 71.5 | — | |
| Ours-G128Category=Standard2026.01 | 83.08 | 62.22 | 74.61 | — | |
| ALIKED+LightGlueDetector=SIFT2026.02 | 82.9 | 58.6 | 72.8 | — | |
| RotMatchEvaluation Protocol=Rotated2026.04 | 82.9 | 54.5 | 70.9 | — | |
| Specialist LGDetector=SIFT2026.02 | 82.8 | 59.2 | 72.6 | — | |
| RotDesc&MatchEvaluation Protocol=Rotated2026.04 | 82.8 | 54.2 | 70.6 | — | |
| DISK+LightGlueDetector=XFeat2026.02 | 82.7 | 58.9 | 72.8 | — | |
| SP+OursDetector=Dedode(w/ nms)2026.02 | 82.6 | 57.1 | 71.2 | — | |
| XFeat + LightGluemax keypoints=40962026.07 | 82.5 | 57 | 71.8 | — | |
| DONDetector=XFeat2026.02 | 82.3 | 56.8 | 71.7 | — | |
| ALIKED-N32Category=Standard2026.01 | 82.16 | 61.1 | 73.56 | — | |
| GIM+SP+LightGlueDetector=SIFT, GIM Training=Fine-tuned with SIFT2026.02 | 82 | 57.7 | 71.7 | — | |
| ALIKED+OursDetector=Dedode(w/ nms)2026.02 | 82 | 55.3 | 70.6 | — | |
| RDD + LightGlueMethod Type=Sparse with Learned Matcher, Feature Count=4096, Matcher=LightGlue2025.05 | 81.8 | 52.3 | 68.9 | — | |
| ALIKED+OursDetector=ORB-SS2026.02 | 81.7 | 57.1 | 71.1 | — | |
| DISK+OursDetector=R2D2-SS2026.02 | 81.4 | 60.1 | 72.5 | — | |
| SP+LightGlueDetector=SIFT2026.02 | 81.3 | 56.3 | 70.6 | — | |
| ReLoc3r-512Regression Category=PR, Resolution=5122026.03 | 81.22 | 49.59 | 67.84 | — | |
| LOFTRMethod Type=Semi-Dense2025.05 | 81.2 | 52.8 | 69.2 | — | |
| Reloc3r-512Category=PR, Resolution=5122024.12 | 81.2 | 49.6 | 67.9 | — | |
| LOFTRRANSAC algorithm=RANSAC, Venue=CVPR212025.04 | 81.2 | 52.8 | 69.2 | — | |
| Specialist LGDetector=Dedode(w/ nms)2026.02 | 81.2 | 54.7 | 69.8 | — | |
| Reloc3rMethod Category=RPR, Resolution=512, FPS=402026.03 | 81.2 | 49.6 | 67.9 | — | |
| LoFTRMatching category=Dense Matchers2026.04 | 81.2 | 52.8 | 69.2 | — | |
| NoRotEvaluation Protocol=Rotated2026.04 | 81.2 | 52.4 | 68.8 | — | |
| Reloc3rModel Type=feed-forward 3D reconstruction2025.11 | 81.2 | 49.6 | 67.9 | — | |
| LoFTRModel Type=feature matcher2025.11 | 81.2 | 52.8 | 69.2 | — | |
| Efficient LoFTRRegression Category=Non-PR2026.03 | 81.18 | 52.8 | 69.19 | — | |
| SP+LightGlueDetector=Dedode(w/ nms)2026.02 | 80.9 | 55 | 69.7 | — | |
| LoMa Desc.Matching category=Detect+Describe, Number of keypoints=40962026.04 | 80.9 | 51.7 | 68.3 | — | |
| VGGT-518Regression Category=PR, Resolution=518, Input configuration=multi-view support2026.03 | 80.71 | 46.25 | 66.46 | — | |
| ALIKED+LightGlueDetector=ORB-SS2026.02 | 80.7 | 56 | 70.1 | — | |
| LightGlueModel Type=feature matcher2025.11 | 80.7 | 51 | 68.1 | — | |
| SuperPoint + SuperGlueMethod Type=Sparse with Learned Matcher, Feature Count=4096, Matcher=SuperGlue2025.05 | 80.6 | 49.7 | 67.1 | — | |
| ALIKED+LightGlueDetector=Dedode(w/ nms)2026.02 | 80.5 | 53.6 | 68.9 | — | |
| SuperPoint + LightGlueMethod Type=Sparse with Learned Matcher, Feature Count=4096, Matcher=LightGlue2025.05 | 80.1 | 49.9 | 67 | — | |
| GIM+SP+LightGlueDetector=ORB-SS, GIM Training=Fine-tuned with SIFT2026.02 | 80.1 | 54 | 69 | — | |
| Ours-L64Category=Compact2026.01 | 80.02 | 58.29 | 70.83 | — | |
| SP+OursDetector=ORB-SS2026.02 | 80 | 53.2 | 68.1 | — | |
| ALIKED-T16Category=Compact2026.01 | 79.77 | 58.46 | 70.89 | — | |
| DeDoDe-BCategory=Standard2026.01 | 79.41 | 59.56 | 71.14 | — | |
| RDD*Method Type=Semi-Dense2025.05 | 79.3 | 51.3 | 67.1 | — | |
| ALIKED+LGMatching category=Sparse Matchers, Number of keypoints=40962026.04 | 79.3 | 48.1 | 65.7 | — | |
| ALIKED+LGEvaluation Protocol=Non-rotated2026.04 | 79.3 | 48.1 | 65.7 | — | |
| ALIKED-N16Category=Standard2026.01 | 79.05 | 57.62 | 70 | — | |
| DISK+OursDetector=ORB-SS2026.02 | 79 | 55.7 | 69 | — | |
| DISK+LGMatching category=Sparse Matchers, Number of keypoints=40962026.04 | 79 | 47.8 | 65.3 | — | |
| SP+LightGlueDetector=ORB-SS2026.02 | 78.8 | 53.4 | 67.9 | — | |
| Ours-M64Category=Compact2026.01 | 78.62 | 57.41 | 69.81 | — | |
| PDC-Net+RANSAC algorithm=RANSAC, Venue=TPAMI232025.04 | 78.5 | 51.5 | 67.2 | — | |
| RDDMethod Type=Sparse with MNN, Feature Count=4096, Matcher=MNN2025.05 | 78.3 | 48.2 | 65.2 | — | |
| DISK+OursDetector=SIFT2026.02 | 78.3 | 55.2 | 68.7 | — | |
| DISK+OursDetector=Dedode(w/ nms)2026.02 | 78 | 51 | 66.2 | — | |
| DeDoDe-V2-GMethod Type=Sparse with MNN, Feature Count=4096, Matcher=MNN2025.05 | 77.5 | 47.2 | 63.9 | — | |
| Ours-S64Category=Compact2026.01 | 77.28 | 55.43 | 67.74 | — |