ResearchBenchmarksVisual Localization on 3RScanVisual Localization on 3RScanFollow4.2Average Storage per Scene (MB)ACE-23.684164.533352.75540.967Jun 10, 2026Evaluation resultsMethodMethodLinksAverage Storage per Scene (MB)Mapping Time (s)Localization Time (s)Final Optimization Time (s)ACE2026.064.2———SG2Loc2026.069.8———HLoc2026.0657.6———ACE+GS-CPR2026.0682.6———Loc-NeRF2026.06143.9———MeshLoc2026.06701.3———ACE2026.06—134.20.08—ACE+GS-CPR2026.06—9240.28—HLoc2026.06—333.60.32—Loc-NeRF2026.06—1,4907.5—MeshLoc2026.06—337.90.93—SG2Loc2026.06—1.62.94.2