Visual Localization on 12-Scenes (test)
0.139Median Rotation Error (°)Point cloud
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Point cloudLocalization Category=Image-based localization2026.05 | 0.139 | 0.627 | 100 | 97.94 | 3 | |
| ULCLocalization Category=Image-based localization2026.05 | 0.159 | 0.727 | 100 | 95.88 | 96 | |
| PPL+Localization Category=Image-based localization2026.05 | 0.168 | 0.765 | 100 | 95.13 | 91 | |
| PPLLocalization Category=Image-based localization2026.05 | 0.17 | 0.775 | 100 | 95.16 | 91 | |
| Sphere (oracle)Localization Category=Depth-guided localization, η=33%, Oracle=z-oracle2026.05 | 0.232 | 0.577 | 100 | 97.6 | 13 | |
| Sphere (oracle)Localization Category=Depth-guided localization, η=25%, Oracle=z-oracle2026.05 | 0.24 | 0.601 | 99.9 | 97.22 | 22 | |
| SphereLocalization Category=Depth-guided localization, η=33%2026.05 | 0.288 | 1.282 | 99.34 | 87.86 | 24 | |
| SphereLocalization Category=Depth-guided localization, η=25%2026.05 | 0.3 | 1.31 | 99 | 86.97 | 48 | |
| DVLAD* +R2D2(+D)Localization Category=Depth-guided localization2026.05 | 0.389 | 0.931 | 99.73 | 97.06 | — | |
| DSAC*Localization Category=Depth-guided localization, Depth Input=+D2026.05 | 0.397 | 0.735 | 99.98 | 99.21 | 84 |