Visual Localization on 7-Scenes (Median Errors per Scene)
0.28Chess Median Translation Error (cm)GRLocref
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GRLocrefCategory=PPR2025.11 | 0.28 | 0.1 | 0.32 | 0.13 | 0.22 | 0.14 | 0.65 | 0.15 | 0.7 | 0.15 | 0.35 | 0.1 | 0.61 | 0.19 | 0.45 | 0.14 | |
| RAPrefCategory=PPR2025.11 | 0.33 | 0.11 | 0.51 | 0.21 | 0.39 | 0.27 | 0.57 | 0.16 | 0.81 | 0.2 | 0.45 | 0.12 | 1.11 | 0.32 | 0.6 | 0.2 | |
| STDLocCategory=PPR2025.11 | 0.46 | 0.15 | 0.57 | 0.24 | 0.45 | 0.26 | 0.86 | 0.24 | 0.93 | 0.21 | 0.63 | 0.19 | 1.42 | 0.41 | 0.76 | 0.24 | |
| DSACCategory=SCR2025.11 | 0.5 | 0.17 | 0.8 | 0.28 | 0.5 | 0.33 | 1.2 | 0.34 | 1.2 | 0.28 | 0.7 | 0.21 | 2.7 | 0.78 | 1.1 | 0.34 | |
| ACECategory=SCR2025.11 | 0.5 | 0.18 | 0.8 | 0.33 | 0.6 | 0.34 | 1 | 0.29 | 1 | 0.22 | 0.8 | 0.2 | 2.9 | 0.81 | 1.1 | 0.34 | |
| ACE + GS-CPRCategory=PPR2025.11 | 0.5 | 0.15 | 0.4 | 0.28 | 0.6 | 0.25 | 0.9 | 0.26 | 1 | 0.23 | 0.7 | 0.17 | 1.4 | 0.42 | 0.8 | 0.25 | |
| GLACECategory=SCR2025.11 | 0.6 | 0.18 | 0.9 | 0.34 | 0.5 | 0.33 | 1.1 | 0.29 | 0.9 | 0.23 | 0.8 | 0.2 | 3.2 | 0.93 | 1.2 | 0.36 | |
| NeRFMatchCategory=PPR2025.11 | 0.95 | 0.3 | 1.11 | 0.41 | 1.34 | 0.92 | 3.09 | 0.87 | 2.21 | 0.6 | 1.03 | 0.28 | 9.26 | 1.74 | 2.71 | 0.73 | |
| GRLocCategory=(GRR)2025.11 | 0.97 | 0.31 | 2.93 | 0.95 | 1.4 | 0.9 | 5.08 | 1.05 | 2.28 | 0.53 | 3.13 | 0.69 | 3.42 | 0.82 | 2.75 | 0.75 | |
| CrossFireCategory=PPR2025.11 | 1 | 0.4 | 3 | 2.3 | 5 | 1.9 | 5 | 1.6 | 3 | 0.8 | 2 | 0.8 | 12 | 1.9 | 4.4 | 1.38 | |
| MarepoCategory=APR2025.11 | 1.9 | 0.83 | 2.3 | 0.92 | 2.1 | 1.24 | 2.9 | 0.93 | 2.5 | 0.88 | 2.9 | 0.98 | 5.9 | 1.48 | 2.9 | 1.04 | |
| RAPCategory=APR2025.11 | 2 | 0.85 | 6 | 2.84 | 4 | 4.52 | 4 | 1.57 | 3 | 1.1 | 5 | 1.1 | 10 | 1.3 | 5 | 1.9 | |
| MCLocCategory=PPR2025.11 | 2 | 0.8 | 3 | 1.4 | 2 | 1.45 | 4 | 1.3 | 5 | 1.6 | 6 | 1.6 | 6 | 2 | 4.1 | 1.43 | |
| HR-APRCategory=PPR2025.11 | 2 | 0.55 | 2 | 0.75 | 3 | 1.3 | 2 | 0.64 | 2 | 0.62 | 2 | 0.67 | 5 | 1.3 | 2.4 | 0.85 | |
| DFNet + NeFeS50Category=PPR2025.11 | 2 | 0.57 | 2 | 0.74 | 2 | 1.28 | 2 | 0.56 | 2 | 0.55 | 2 | 0.57 | 5 | 1.28 | 2.4 | 0.79 | |
| DSAC*Method Category=E2E, Keypoint Detector=SIFT, Total map size (MB)=1962026.07 | 2 | 1.1 | 2 | 1.24 | 1 | 1.82 | 3 | 1.15 | 4 | 1.34 | 4 | 1.68 | 3 | 1.16 | 3 | 1.36 | |
| HSCNetMethod Category=E2E, Keypoint Detector=SIFT, Total map size (MB)=10362026.07 | 2 | 0.7 | 2 | 0.9 | 1 | 0.9 | 3 | 0.8 | 4 | 1 | 4 | 1.2 | 3 | 0.8 | 3 | 0.9 | |
| SP+SGMethod Category=DB, Keypoint Detector=SIFT, Total map size (MB)=229772026.07 | 2 | 0.85 | 2 | 0.94 | 1 | 0.75 | 3 | 0.92 | 5 | 1.3 | 4 | 1.4 | 5 | 1.47 | 3 | 1.09 | |
| DFNetCategory=APR2025.11 | 3 | 1.12 | 6 | 2.3 | 4 | 2.29 | 6 | 1.54 | 7 | 1.92 | 7 | 1.74 | 12 | 2.63 | 6 | 1.93 | |
| Reloc3rCategory=RPR2025.11 | 3 | 0.88 | 3 | 0.81 | 1 | 0.95 | 4 | 0.88 | 6 | 1.1 | 4 | 1.26 | 7 | 1.26 | 4 | 1.02 | |
| Reloc3rMethod Category=E2E, Keypoint Detector=SIFT, Total map size (MB)=102682026.07 | 3 | 0.88 | 3 | 0.81 | 1 | 0.95 | 4 | 0.88 | 6 | 1.1 | 4 | 1.26 | 7 | 1.26 | 4 | 1.02 | |
| ASMethod Category=DB, Keypoint Detector=SIFT2026.07 | 3 | 0.87 | 2 | 1.01 | 1 | 0.82 | 4 | 1.15 | 7 | 1.69 | 5 | 1.72 | 4 | 1.01 | 4 | 1.18 | |
| DGC-GNNMethod Category=DF, Keypoint Detector=SIFT, Total map size (MB)=3552026.07 | 3 | 1.41 | 5 | 1.81 | 4 | 3.13 | 7 | 1.66 | 8 | 2.03 | 8 | 2.14 | 83 | 21.5 | 17 | 4.81 | |
| A2-GNNMethod Category=DF, Keypoint Detector=SIFT, Total map size (MB)=3552026.07 | 3 | 1.37 | 5 | 1.78 | 4 | 2.7 | 6 | 1.56 | 7 | 1.86 | 7 | 2 | 72 | 17 | 15 | 4.04 | |
| GeoMixMethod Category=DF, Keypoint Detector=SIFT, Total map size (MB)=3552026.07 | 3 | 1.31 | 4 | 1.52 | 3 | 2.3 | 5 | 1.46 | 7 | 1.74 | 7 | 1.88 | 45 | 11.1 | 11 | 3.04 | |
| GoMatchMethod Category=DF, Keypoint Detector=SIFT, Total map size (MB)=3022026.07 | 4 | 1.65 | 13 | 3.86 | 9 | 5.17 | 11 | 2.48 | 16 | 3.32 | 13 | 2.84 | 89 | 21.1 | 22 | 5.77 | |
| FQN-MNCategory=PPR2025.11 | 4.1 | 1.31 | 10.5 | 2.97 | 7.63 | 5.86 | 3.6 | 2.36 | 4.6 | 1.76 | 16.1 | 4.42 | 139.5 | 34.67 | 25 | 7.3 | |
| ExReNetCategory=RPR2025.11 | 5 | 1.63 | 7 | 2.54 | 3 | 2.71 | 6 | 1.75 | 7 | 2.04 | 7 | 2.1 | 19 | 4.87 | 8 | 2.52 | |
| PoseNetCategory=APR2025.11 | 10 | 4.02 | 27 | 10 | 18 | 13 | 17 | 5.97 | 19 | 4.67 | 22 | 5.91 | 35 | 10.5 | 21 | 7.74 | |
| MS-TransformerCategory=APR2025.11 | 11 | 6.38 | 23 | 11.5 | 13 | 13 | 18 | 8.14 | 17 | 8.42 | 16 | 8.92 | 29 | 10.3 | 18 | 9.51 | |
| MS-Trans.Method Category=E2E, Keypoint Detector=SIFT, Total map size (MB)=712026.07 | 11 | 4.66 | 24 | 9.6 | 14 | 12.2 | 17 | 5.66 | 18 | 4.44 | 17 | 5.94 | 26 | 8.45 | 18 | 7.28 | |
| MapNetCategory=APR2025.11 | 13 | 4.97 | 33 | 9.97 | 19 | 16.7 | 25 | 9.08 | 28 | 7.83 | 32 | 9.62 | 43 | 11.8 | 28 | 10 | |
| PAECategory=APR2025.11 | 13 | 6.61 | 24 | 12 | 14 | 13 | 19 | 8.58 | 17 | 7.28 | 18 | 8.89 | 30 | 10.3 | 19 | 9.52 |