ResearchBenchmarksRelocalization on NCLT (test)Follow90Success Rate (<0.5m)LEADER21.8839.56557.2574.935Apr 13, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (<0.5m)Success Rate (<1m)Positional Error (99% Threshold) (m)LEADER2026.049098.31.23LightLoc2026.0446.379.68.7LiSA2026.0434.3724.98DiffLoc2026.0430.868.75.73SGLoc2026.0424.563.88.7