Visual Localization on 7-Scenes (Median Errors in Meters)
0.019Median Translation Error (Chess, m)DSAC*
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DSAC*Category=SCR, Dataset-specific training time=Hours / scene2026.06 | 0.019 | 1.11 | 0.019 | 1.24 | 0.011 | 1.82 | 0.026 | 1.18 | 0.042 | 1.41 | 0.03 | 1.7 | 0.042 | 1.42 | 0.027 | 1.41 | |
| ACECategory=SCR, Dataset-specific training time=5min / scene2026.06 | 0.019 | 0.7 | 0.019 | 0.9 | 0.009 | 0.6 | 0.027 | 0.8 | 0.042 | 1.1 | 0.042 | 1.3 | 0.039 | 1.1 | 0.028 | 0.93 | |
| DFNet+NeFeSCategory=APR, Dataset-specific training time=Days / scene2026.06 | 0.02 | 0.57 | 0.02 | 0.74 | 0.02 | 1.28 | 0.02 | 0.56 | 0.02 | 0.55 | 0.02 | 0.57 | 0.05 | 1.28 | 0.02 | 0.79 | |
| MarepoCategory=APR, Dataset-specific training time=15min / scene2026.06 | 0.02 | 1.24 | 0.02 | 1.39 | 0.02 | 2.03 | 0.03 | 1.26 | 0.04 | 1.48 | 0.04 | 1.71 | 0.06 | 1.67 | 0.03 | 1.54 | |
| VGP-NavCategory=RPR, Dataset-specific training time=None2026.06 | 0.02 | 0.7 | 0.02 | 0.88 | 0.01 | 0.73 | 0.03 | 0.73 | 0.04 | 1.05 | 0.04 | 1.2 | 0.03 | 0.72 | 0.03 | 0.86 | |
| PMNetCategory=APR, Dataset-specific training time=Days / scene2026.06 | 0.03 | 1.26 | 0.04 | 1.76 | 0.02 | 1.68 | 0.06 | 1.69 | 0.07 | 1.96 | 0.08 | 2.23 | 0.11 | 2.97 | 0.06 | 1.93 | |
| Reloc3r-512Category=RPR, Dataset-specific training time=None2026.06 | 0.03 | 0.88 | 0.03 | 0.81 | 0.01 | 0.95 | 0.04 | 0.88 | 0.06 | 1.1 | 0.04 | 1.26 | 0.07 | 1.26 | 0.04 | 1.02 | |
| CamNetCategory=RPR, Dataset-specific training time=Hours2026.06 | 0.04 | 1.73 | 0.03 | 1.74 | 0.05 | 1.98 | 0.04 | 1.62 | 0.04 | 1.64 | 0.04 | 1.63 | 0.04 | 1.51 | 0.04 | 1.69 | |
| ExReNet (SUNCG)Category=RPR, Dataset-specific training time=None2026.06 | 0.05 | 1.63 | 0.07 | 2.54 | 0.03 | 2.71 | 0.06 | 1.75 | 0.07 | 2.04 | 0.07 | 2.1 | 0.19 | 4.87 | 0.08 | 2.52 | |
| ExReNet (SN)Category=RPR, Dataset-specific training time=None2026.06 | 0.06 | 2.15 | 0.09 | 3.2 | 0.04 | 3.3 | 0.07 | 2.17 | 0.11 | 2.65 | 0.09 | 2.57 | 0.33 | 7.34 | 0.11 | 3.34 | |
| Map-free (Regress)Category=RPR, Dataset-specific training time=None2026.06 | 0.09 | 2.66 | 0.13 | 4.54 | 0.11 | 4.81 | 0.11 | 2.77 | 0.16 | 3.11 | 0.14 | 3.48 | 0.18 | 4.7 | 0.13 | 3.72 | |
| Map-free (Match)Category=RPR, Dataset-specific training time=None2026.06 | 0.1 | 2.93 | 0.12 | 4.95 | 0.11 | 5.4 | 0.12 | 3.01 | 0.16 | 3.19 | 0.14 | 3.45 | 0.21 | 4.5 | 0.14 | 3.92 |