# Relative Pose Estimation on SUN3D (test) Source: [Relative Pose Estimation on SUN3D (test)]() Collection index: [llms.txt]() Data updated: 2026-02-26T06:10:04.347Z Evaluation of relative camera pose estimation performance on the test split of the SUN3D dataset, measured using mAP metrics at angular 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 | Relative Pose Estimation | | Dataset (including any stated split) | SUN3D (test) | | Metric | mAP@5° | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 30 of 30 | | 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 - [mAP@5°](): Higher is better; unit: PERCENT. ## Recorded results | Method | mAP@5° | Result date | Report paper | | --- | --- | --- | --- | | SC-Net | 7.77 | Not recorded | 69535c9953fdd5c36173db52 | | DeMo | 7.65 | Not recorded | 69535c9953fdd5c36173db52 | | DeMatch | 7.6 | Not recorded | 69535c9953fdd5c36173db52 | | SC-Net | 7.15 | Not recorded | 69535c9953fdd5c36173db52 | | ConvMatch+ | 6.95 | Not recorded | 69535c9953fdd5c36173db52 | | U-Match | 6.77 | Not recorded | 69535c9953fdd5c36173db52 | | ConvMatch | 6.33 | Not recorded | 69535c9953fdd5c36173db52 | | ConvMatch+ | 6.24 | Not recorded | 69535c9953fdd5c36173db52 | | NCMNet | 6.05 | Not recorded | 69535c9953fdd5c36173db52 | | PT-Net | 6 | Not recorded | 69535c9953fdd5c36173db52 | | MSGSA | 5.98 | Not recorded | 69535c9953fdd5c36173db52 | | CGR-Net | 5.85 | Not recorded | 69535c9953fdd5c36173db52 | | PT-Net | 5.49 | Not recorded | 69535c9953fdd5c36173db52 | | ConvMatch | 5.38 | Not recorded | 69535c9953fdd5c36173db52 | | BCLNet | 5.05 | Not recorded | 69535c9953fdd5c36173db52 | | DeMatch | 4.88 | Not recorded | 69535c9953fdd5c36173db52 | | MSGSA | 4.2 | Not recorded | 69535c9953fdd5c36173db52 | | T-Net | 4.12 | Not recorded | 69535c9953fdd5c36173db52 | | NCMNet | 4.09 | Not recorded | 69535c9953fdd5c36173db52 | | OANet | 3.89 | Not recorded | 69535c9953fdd5c36173db52 | | DeMo | 3.83 | Not recorded | 69535c9953fdd5c36173db52 | | T-Net | 3.75 | Not recorded | 69535c9953fdd5c36173db52 | | MS2DG-Net | 3.71 | Not recorded | 69535c9953fdd5c36173db52 | | CGR-Net | 3.68 | Not recorded | 69535c9953fdd5c36173db52 | | MSA-Net | 3.65 | Not recorded | 69535c9953fdd5c36173db52 | | OANet | 3.62 | Not recorded | 69535c9953fdd5c36173db52 | | U-Match | 3.61 | Not recorded | 69535c9953fdd5c36173db52 | | MS2DG-Net | 3.3 | Not recorded | 69535c9953fdd5c36173db52 | | BCLNet | 2.95 | Not recorded | 69535c9953fdd5c36173db52 | | MSA-Net | 2.44 | Not recorded | 69535c9953fdd5c36173db52 | ### SC-Net mAP@5°: 7.77. Result ID: 699800245698665ec4599f79. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Descriptor":"SIFT","FLOPs (G)":"293.84","Time (ms)":"128.55","Memory (GB)":"1.13"}. This record does not assert independent reproduction. ### DeMo mAP@5°: 7.65. Result ID: 699800245698665ec4599f77. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SIFT","FLOPs (G)":"231.17","Time (ms)":"113.80","Memory (GB)":"0.52"}. This record does not assert independent reproduction. ### DeMatch mAP@5°: 7.6. Result ID: 699800245698665ec4599f6f. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SIFT","FLOPs (G)":"150.18","Time (ms)":"37.24","Memory (GB)":"0.46"}. This record does not assert independent reproduction. ### SC-Net mAP@5°: 7.15. Result ID: 699800245698665ec4599f7a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Descriptor":"SP","FLOPs (G)":"293.84","Time (ms)":"128.55","Memory (GB)":"1.13"}. This record does not assert independent reproduction. ### ConvMatch+ mAP@5°: 6.95. Result ID: 699800245698665ec4599f6b. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SIFT","FLOPs (G)":"344.27","Time (ms)":"73.11","Memory (GB)":"0.68"}. This record does not assert independent reproduction. ### U-Match mAP@5°: 6.77. Result ID: 699800245698665ec4599f67. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SIFT","FLOPs (G)":"239.40","Time (ms)":"82.49","Memory (GB)":"0.61"}. This record does not assert independent reproduction. ### ConvMatch mAP@5°: 6.33. Result ID: 699800245698665ec4599f69. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SIFT","FLOPs (G)":"242.14","Time (ms)":"64.20","Memory (GB)":"0.65"}. This record does not assert independent reproduction. ### ConvMatch+ mAP@5°: 6.24. Result ID: 699800245698665ec4599f6c. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SP","FLOPs (G)":"344.27","Time (ms)":"73.11","Memory (GB)":"0.68"}. This record does not assert independent reproduction. ### NCMNet mAP@5°: 6.05. Result ID: 699800245698665ec4599f65. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SIFT","FLOPs (G)":"557.92","Time (ms)":"434.71","Memory (GB)":"2.46"}. This record does not assert independent reproduction. ### PT-Net mAP@5°: 6. Result ID: 699800245698665ec4599f6e. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SP","FLOPs (G)":"193.25","Time (ms)":"67.04","Memory (GB)":"0.66"}. This record does not assert independent reproduction. ### MSGSA mAP@5°: 5.98. Result ID: 699800245698665ec4599f71. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SIFT","FLOPs (G)":"299.43","Time (ms)":"107.65","Memory (GB)":"0.92"}. This record does not assert independent reproduction. ### CGR-Net mAP@5°: 5.85. Result ID: 699800245698665ec4599f75. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SIFT","FLOPs (G)":"424.40","Time (ms)":"217.50","Memory (GB)":"1.98"}. This record does not assert independent reproduction. ### PT-Net mAP@5°: 5.49. Result ID: 699800245698665ec4599f6d. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SIFT","FLOPs (G)":"193.25","Time (ms)":"67.04","Memory (GB)":"0.66"}. This record does not assert independent reproduction. ### ConvMatch mAP@5°: 5.38. Result ID: 699800245698665ec4599f6a. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SP","FLOPs (G)":"242.14","Time (ms)":"64.20","Memory (GB)":"0.65"}. This record does not assert independent reproduction. ### BCLNet mAP@5°: 5.05. Result ID: 699800245698665ec4599f73. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Descriptor":"SIFT","FLOPs (G)":"644.05","Time (ms)":"290.87","Memory (GB)":"1.96"}. This record does not assert independent reproduction. ### DeMatch mAP@5°: 4.88. Result ID: 699800245698665ec4599f70. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SP","FLOPs (G)":"150.18","Time (ms)":"37.24","Memory (GB)":"0.46"}. This record does not assert independent reproduction. ### MSGSA mAP@5°: 4.2. Result ID: 699800245698665ec4599f72. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SP","FLOPs (G)":"299.43","Time (ms)":"107.65","Memory (GB)":"0.92"}. This record does not assert independent reproduction. ### T-Net mAP@5°: 4.12. Result ID: 699800245698665ec4599f5f. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SIFT","FLOPs (G)":"173.10","Time (ms)":"56.36","Memory (GB)":"0.43"}. This record does not assert independent reproduction. ### NCMNet mAP@5°: 4.09. Result ID: 699800245698665ec4599f66. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SP","FLOPs (G)":"557.92","Time (ms)":"434.71","Memory (GB)":"2.46"}. This record does not assert independent reproduction. ### OANet mAP@5°: 3.89. Result ID: 699800245698665ec4599f5d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Descriptor":"SIFT","FLOPs (G)":"117.80","Time (ms)":"30.29","Memory (GB)":"0.33"}. This record does not assert independent reproduction. ### DeMo mAP@5°: 3.83. Result ID: 699800245698665ec4599f78. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SP","FLOPs (G)":"231.17","Time (ms)":"113.80","Memory (GB)":"0.52"}. This record does not assert independent reproduction. ### T-Net mAP@5°: 3.75. Result ID: 699800245698665ec4599f60. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SP","FLOPs (G)":"173.10","Time (ms)":"56.36","Memory (GB)":"0.43"}. This record does not assert independent reproduction. ### MS2DG-Net mAP@5°: 3.71. Result ID: 699800245698665ec4599f63. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SIFT","FLOPs (G)":"322.81","Time (ms)":"163.90","Memory (GB)":"2.52"}. This record does not assert independent reproduction. ### CGR-Net mAP@5°: 3.68. Result ID: 699800245698665ec4599f76. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SP","FLOPs (G)":"424.40","Time (ms)":"217.50","Memory (GB)":"1.98"}. This record does not assert independent reproduction. ### MSA-Net mAP@5°: 3.65. Result ID: 699800245698665ec4599f62. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SP","FLOPs (G)":"100.22","Time (ms)":"52.16","Memory (GB)":"0.43"}. This record does not assert independent reproduction. ### OANet mAP@5°: 3.62. Result ID: 699800245698665ec4599f5e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Descriptor":"SP","FLOPs (G)":"117.80","Time (ms)":"30.29","Memory (GB)":"0.33"}. This record does not assert independent reproduction. ### U-Match mAP@5°: 3.61. Result ID: 699800245698665ec4599f68. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SP","FLOPs (G)":"239.40","Time (ms)":"82.49","Memory (GB)":"0.61"}. This record does not assert independent reproduction. ### MS2DG-Net mAP@5°: 3.3. Result ID: 699800245698665ec4599f64. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SP","FLOPs (G)":"322.81","Time (ms)":"163.90","Memory (GB)":"2.52"}. This record does not assert independent reproduction. ### BCLNet mAP@5°: 2.95. Result ID: 699800245698665ec4599f74. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Descriptor":"SP","FLOPs (G)":"644.05","Time (ms)":"290.87","Memory (GB)":"1.96"}. This record does not assert independent reproduction. ### MSA-Net mAP@5°: 2.44. Result ID: 699800245698665ec4599f61. [Reporting paper]() Recorded evaluation configuration: {"Descriptor":"SIFT","FLOPs (G)":"100.22","Time (ms)":"52.16","Memory (GB)":"0.43"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.