# Relative Pose Estimation on MegaDepth

Source: [Relative Pose Estimation on MegaDepth](<https://www.sota2.com/research/sota/relative-pose-estimation-on-megadepth>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T05:25:24.449Z

Evaluation of Two-view relative pose estimation performance on the MegaDepth dataset, measured using AUC metrics at 5°, 10°, and 20° thresholds.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Two-view relative pose estimation |
| Dataset (including any stated split) | MegaDepth |
| Metric | AUC @5° |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 13 of 13 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [AUC @5°](<https://www.sota2.com/research/sota/relative-pose-estimation-on-megadepth.md?metric=AUC%20%405%C2%B0>): Higher is better; unit: PERCENT.

- [AUC @10°](<https://www.sota2.com/research/sota/relative-pose-estimation-on-megadepth.md?metric=AUC%20%4010%C2%B0>): Higher is better; unit: PERCENT.

- [AUC @20°](<https://www.sota2.com/research/sota/relative-pose-estimation-on-megadepth.md?metric=AUC%20%4020%C2%B0>): Higher is better; unit: PERCENT.

## Recorded results

| Method | AUC @5° | Result date | Report paper |
| --- | --- | --- | --- |
| ASpanFormer | 69.4 | Not recorded | 68fa72fe1e209131cea59dbf |
| LightGlue | 66.7 | Not recorded | 68fa72fe1e209131cea59dbf |
| MatchFormer | 66.5 | Not recorded | 68fa72fe1e209131cea59dbf |
| LoFTR | 66.4 | Not recorded | 68fa72fe1e209131cea59dbf |
| Superglue | 65.8 | Not recorded | 68fa72fe1e209131cea59dbf |
| Roessle & Nießner | 61.2 | Not recorded | 68fa72fe1e209131cea59dbf |
| DiffPose | 60.2 | Not recorded | 68fa72fe1e209131cea59dbf |
| ASpanFormer | 55.3 | Not recorded | 68fa72fe1e209131cea59dbf |
| MatchFormer | 53.3 | Not recorded | 68fa72fe1e209131cea59dbf |
| LoFTR | 52.8 | Not recorded | 68fa72fe1e209131cea59dbf |
| LightGlue | 49.9 | Not recorded | 68fa72fe1e209131cea59dbf |
| Superglue | 49.7 | Not recorded | 68fa72fe1e209131cea59dbf |
| Roessle & Nießner | 46.9 | Not recorded | 68fa72fe1e209131cea59dbf |

### ASpanFormer

AUC @5°: 69.4. Result ID: 6992a7353a6c31484910700b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d4d1e209131cea38f3c.md>)

Recorded evaluation configuration: {"Overall Approach":"Matching","Solver":"LO-RANSAC \[18\]"}. This record does not assert independent reproduction.

### LightGlue

AUC @5°: 66.7. Result ID: 6992a7353a6c314849107005.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6fd91e209131cea479aa.md>)

[Implementation](<https://www.sota2.com/github.com/cvg/LightGlue>)

Recorded evaluation configuration: {"Overall Approach":"Matching","Solver":"LO-RANSAC \[18\]"}. This record does not assert independent reproduction.

### MatchFormer

AUC @5°: 66.5. Result ID: 6992a7353a6c314849107009.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d851e209131cea3a5bb.md>)

Recorded evaluation configuration: {"Overall Approach":"Matching","Solver":"LO-RANSAC \[18\]"}. This record does not assert independent reproduction.

### LoFTR

AUC @5°: 66.4. Result ID: 6992a7353a6c314849107007.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69b21e209131cea2380d.md>)

[Implementation](<https://zju3dv.github.io/loftr/>)

Recorded evaluation configuration: {"Overall Approach":"Matching","Solver":"LO-RANSAC \[18\]"}. This record does not assert independent reproduction.

### Superglue

AUC @5°: 65.8. Result ID: 6992a7353a6c314849107003.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa673c1e209131cea15151.md>)

Recorded evaluation configuration: {"Overall Approach":"Matching","Solver":"LO-RANSAC \[18\]"}. This record does not assert independent reproduction.

### Roessle & Nießner

AUC @5°: 61.2. Result ID: 6992a7353a6c31484910700d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

Recorded evaluation configuration: {"Overall Approach":"Matching → W8PA → BA"}. This record does not assert independent reproduction.

### DiffPose

AUC @5°: 60.2. Result ID: 6992a7353a6c31484910700e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

[Implementation](<https://github.com/princeton-vl/MultiSlam_DiffPose>)

Recorded evaluation configuration: {"Overall Approach":"Optical-Flow / Clamp - Solver"}. This record does not assert independent reproduction.

### ASpanFormer

AUC @5°: 55.3. Result ID: 6992a7353a6c31484910700a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d4d1e209131cea38f3c.md>)

Recorded evaluation configuration: {"Overall Approach":"Matching","Solver":"RANSAC \[15\]"}. This record does not assert independent reproduction.

### MatchFormer

AUC @5°: 53.3. Result ID: 6992a7353a6c314849107008.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d851e209131cea3a5bb.md>)

Recorded evaluation configuration: {"Overall Approach":"Matching","Solver":"RANSAC \[15\]"}. This record does not assert independent reproduction.

### LoFTR

AUC @5°: 52.8. Result ID: 6992a7353a6c314849107006.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69b21e209131cea2380d.md>)

[Implementation](<https://zju3dv.github.io/loftr/>)

Recorded evaluation configuration: {"Overall Approach":"Matching","Solver":"RANSAC \[15\]"}. This record does not assert independent reproduction.

### LightGlue

AUC @5°: 49.9. Result ID: 6992a7353a6c314849107004.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6fd91e209131cea479aa.md>)

[Implementation](<https://www.sota2.com/github.com/cvg/LightGlue>)

Recorded evaluation configuration: {"Overall Approach":"Matching","Solver":"RANSAC \[15\]"}. This record does not assert independent reproduction.

### Superglue

AUC @5°: 49.7. Result ID: 6992a7353a6c314849107002.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa673c1e209131cea15151.md>)

Recorded evaluation configuration: {"Overall Approach":"Matching","Solver":"RANSAC \[15\]"}. This record does not assert independent reproduction.

### Roessle & Nießner

AUC @5°: 46.9. Result ID: 6992a7353a6c31484910700c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72fe1e209131cea59dbf.md>)

Recorded evaluation configuration: {"Overall Approach":"Matching → W8PA"}. This record does not assert independent reproduction.

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