ResearchBenchmarksTraining Time and Memory on 7Scenes HeadsFollow1.5Training TimeGSplatLoc-0.7614.49529.7545.005May 6, 2026Evaluation ResultsMethodMethodLinksTraining TimeMemory Usage (MB)GSplatLoc2026.051.56,986ULF-Loc2026.0551,086STDLoc2026.05506,566PNeRFLoc2026.05586,396