Visual Localization on 12Scenes
0.3Average Median Translation Error (cm)ULF-Loc
Evaluation results
| Method | Links | |||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ULF-LocMethod Category=NeRF/GS2026.05 | 0.3 | — | — | — | — | — | 0.26 | 0.12 | 0.41 | 0.17 | 0.47 | 0.22 | 0.38 | 0.16 | 0.15 | |
| STDLocMethod Category=NeRF/GS2026.05 | 0.4 | — | — | — | — | — | 0.31 | 0.13 | 0.49 | 0.2 | 0.58 | 0.24 | 0.57 | 0.22 | 0.18 | |
| DSAC*Method Category=SCR2026.05 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.25 | |
| ACE+GS-CPRMethod Category=NeRF/GS2026.05 | 0.5 | — | — | — | — | — | 0.5 | 0.2 | 0.64 | 0.27 | 0.68 | 0.27 | 0.57 | 0.19 | 0.21 | |
| GSFFs-PR FeatureMethod Category=NeRF/GS2026.05 | 0.6 | — | — | — | — | — | 0.4 | 0.21 | 0.6 | 0.27 | 0.9 | 0.41 | 1.1 | 0.41 | 0.27 | |
| ACEMethod Category=SCR2026.05 | 0.7 | — | — | — | — | — | 0.59 | 0.23 | 0.76 | 0.27 | 0.86 | 0.33 | 0.82 | 0.28 | 0.26 | |
| GLACEMethod Category=SCR2026.05 | 0.7 | — | — | — | — | — | 0.6 | 0.24 | 0.69 | 0.31 | 0.79 | 0.31 | 0.8 | 0.25 | 0.25 | |
| Marepo+GS-CPRMethod Category=NeRF/GS2026.05 | 0.7 | — | — | — | — | — | 0.59 | 0.25 | 1.04 | 0.45 | 0.69 | 0.27 | 0.99 | 0.28 | 0.28 | |
| SplatLocMethod Category=NeRF/GS2026.05 | 1.2 | — | — | — | — | — | 1.2 | 0.5 | 1.5 | 0.6 | 1.4 | 0.6 | 1.5 | 0.5 | 0.5 | |
| GSplatLocMethod Category=NeRF/GS2026.05 | 1.4 | — | — | — | — | — | 0.54 | 0.19 | 1.84 | 0.31 | 3.66 | 0.37 | 0.94 | 0.27 | 0.26 | |
| NeRF-SCRMethod Category=SCR2026.05 | 2 | — | — | — | — | — | 2 | 0.8 | 2.6 | 1 | 2.5 | 0.9 | 2.6 | 0.8 | 0.76 | |
| APR MarepoMethod Category=APR2026.05 | 2.1 | — | — | — | — | — | 1.8 | 0.9 | 2.3 | 1.3 | 2 | 0.9 | 2.9 | 1.1 | 1.04 | |
| SCRNet-IDMethod Category=SCR2026.05 | 2.8 | — | — | — | — | — | 3 | 1.2 | 3.7 | 1.3 | 3.3 | 1.2 | 3.8 | 1.3 | 1.12 | |
| PNeRFLocMethod Category=NeRF/GS2026.05 | 2.8 | — | — | — | — | — | 1.4 | 0.5 | 8.1 | 3.3 | — | — | 2.8 | 0.9 | 1.08 | |
| SCRNetMethod Category=SCR2026.05 | 3 | — | — | — | — | — | 4.2 | 1.8 | 4.4 | 1.4 | 3.6 | 1.5 | 3.4 | 1.2 | 1.22 | |
| ACEMethod Category=SCR2026.03 | — | 0.7 | 0.26 | 100 | 75.1 | — | — | — | — | — | — | — | — | — | — | |
| ACE2026.05 | — | — | — | 100 | 75 | 97.2 | — | — | — | — | — | — | — | — | — | |
| ACE + GS-CPRMethod Category=NVS2026.03 | — | 0.5 | 0.21 | 100 | 86.7 | — | — | — | — | — | — | — | — | — | — | |
| ACE+GS-CPR2026.05 | — | — | — | 100 | 87.1 | 98.7 | — | — | — | — | — | — | — | — | — | |
| DSAC*2026.05 | — | — | — | 99.8 | — | 96.7 | — | — | — | — | — | — | — | — | — | |
| GLACEMethod Category=SCR2026.03 | — | 0.7 | 0.25 | 100 | 78.7 | — | — | — | — | — | — | — | — | — | — | |
| GLACE2026.05 | — | — | — | 100 | 78.6 | 97.5 | — | — | — | — | — | — | — | — | — | |
| GSplatLoc2026.05 | — | — | — | 91.9 | 45.4 | 70.3 | — | — | — | — | — | — | — | — | — | |
| L^3Method Category=NVS2026.03 | — | 0.4 | 0.19 | 99.5 | 86.7 | — | — | — | — | — | — | — | — | — | — | |
| MarepoMethod Category=APR2026.03 | — | 2.1 | 1.04 | 95 | — | — | — | — | — | — | — | — | — | — | — | |
| Marepo2026.05 | — | — | — | 95 | 9.9 | 50.4 | — | — | — | — | — | — | — | — | — | |
| Marepo+GS-CPR2026.05 | — | — | — | 98.9 | 72.7 | 90.9 | — | — | — | — | — | — | — | — | — | |
| STDLoc2026.05 | — | — | — | 98.4 | 90.1 | 97.2 | — | — | — | — | — | — | — | — | — | |
| ULF-Loc2026.05 | — | — | — | 99.2 | 94.1 | 98.8 | — | — | — | — | — | — | — | — | — |