Relative Pose Estimation on ScanNet indoor (test)
28.9AUC@5°ROMA
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| ROMACategory=Dense, Resolution=640x4802024.03 | 28.9 | 50.4 | 68.3 | 302.7 | |
| DKMCategory=Dense, Resolution=640x4802024.03 | 26.64 | 47.07 | 64.17 | 210.8 | |
| AspanFormerCategory=Semi-Dense, Resolution=640x4802024.03 | 19.6 | 37.7 | 54.4 | 81.6 | |
| Efficient LoFTRCategory=Semi-Dense, Resolution=640x480, Numerical Precision=FP322024.03 | 19.2 | 37 | 53.6 | 40.1 | |
| Efficient LoFTRCategory=Semi-Dense, Resolution=640x480, Numerical Precision=Mixed-Precision2024.03 | 19.2 | 37 | 53.6 | 34.4 | |
| QuadTreeCategory=Semi-Dense, Resolution=640x4802024.03 | 19 | 37.3 | 53.5 | 100.7 | |
| Efficient LoFTR (Optimized)Category=Semi-Dense, Resolution=640x480, Numerical Precision=FP322024.03 | 17.4 | 34.4 | 51.2 | 35.6 | |
| Efficient LoFTR (Optimized)Category=Semi-Dense, Resolution=640x480, Numerical Precision=Mixed-Precision2024.03 | 17.4 | 34.4 | 51.2 | 27 | |
| TopicFMCategory=Semi-Dense, Resolution=640x4802024.03 | 17.3 | 35.5 | 50.9 | 66.4 | |
| LOFTRCategory=Semi-Dense, Resolution=640x4802024.03 | 16.9 | 33.6 | 50.6 | 66.2 | |
| SP + SGCategory=Sparse, Resolution=640x4802024.03 | 16.2 | 32.8 | 49.7 | 48.3 | |
| MatchFormerCategory=Semi-Dense, Resolution=640x4802024.03 | 15.8 | 32 | 48 | 128.9 | |
| SP + LGCategory=Sparse, Resolution=640x480, Numerical Precision=FP322024.03 | 14.8 | 30.8 | 47.5 | 31.9 | |
| SP + LGCategory=Sparse, Resolution=640x480, Numerical Precision=Mixed-Precision2024.03 | 14.8 | 30.8 | 47.5 | 30.7 | |
| DRC-NetCategory=Semi-Dense, Resolution=640x4802024.03 | 7.7 | 17.9 | 30.5 | 328 | |
| SP + NNCategory=Sparse, Resolution=640x4802024.03 | 7.5 | 18.6 | 32.1 | 10.8 |