Visual Localization on 7Scenes
0.3Median Translation Error (cm) - ChessRAP+
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| RAP+Mapping Time=hrs, Pose Refine=true, Size (MB)=~175, Method Category=GS, Training Protocol=Per-scene Training-based2026.05 | 0.3 | 0.11 | 0.5 | 0.21 | 0.4 | 0.27 | 0.6 | 0.16 | 0.8 | 0.2 | 0.5 | 0.12 | 1.1 | 0.32 | 0.6 | 0.2 | |
| SplitGS-Loc+Mapping Time=7min, Pose Refine=true, Size (MB)=~175, Method Category=GS, Training Protocol=Per-scene Training-free2026.05 | 0.3 | 0.11 | 0.4 | 0.18 | 0.4 | 0.27 | 0.6 | 0.16 | 0.9 | 0.2 | 0.4 | 0.12 | 0.9 | 0.28 | 0.6 | 0.19 | |
| GSplatLocMethod Category=NeRF/GS2026.05 | 0.39 | 0.13 | 0.91 | 0.29 | 0.94 | 0.5 | 1.41 | 0.32 | 1.41 | 0.26 | 1.32 | 0.29 | 3.44 | 0.82 | 1.4 | 0.37 | |
| GSFFs-PR FeatureMethod Category=NeRF/GS2026.05 | 0.4 | 0.19 | 0.6 | 0.26 | 0.5 | 0.36 | 1 | 0.31 | 1.3 | 0.38 | 0.6 | 0.23 | 25.1 | 0.63 | 4.2 | 0.34 | |
| GSplatLocMapping Time=hrs, Pose Refine=true, Size (MB)=>200, Method Category=GS, Training Protocol=Per-scene Training-based2026.05 | 0.4 | 0.16 | 1 | 0.32 | 1.1 | 0.62 | 1.9 | 0.4 | 1.8 | 0.35 | 2.7 | 0.55 | 8.8 | 2.34 | 2.5 | 0.68 | |
| GSFFs-PRMapping Time=hrs, Pose Refine=true, Size (MB)=>200, Method Category=GS, Training Protocol=Per-scene Training-based2026.05 | 0.4 | 0.19 | 0.6 | 0.26 | 0.5 | 0.36 | 1 | 0.31 | 1.3 | 0.38 | 0.6 | 0.23 | 25 | 0.63 | 4.2 | 0.34 | |
| GSVisLoc+Mapping Time=hrs, Pose Refine=true, Size (MB)=>200, Method Category=GS, Training Protocol=Per-scene Training-based2026.05 | 0.4 | 0.13 | 0.6 | 0.24 | 0.5 | 0.34 | 1 | 0.26 | 0.9 | 0.21 | 0.7 | 0.18 | 4.7 | 0.96 | 1.3 | 0.33 | |
| GS-RelocNetMapping Time=hrs, Pose Refine=false, Size (MB)=>200, Method Category=GS, Training Protocol=Per-scene Training-based2026.05 | 0.4 | 0.17 | 0.6 | 0.24 | 0.4 | 0.3 | 0.9 | 0.24 | 1 | 0.28 | 0.6 | 0.22 | 1.4 | 0.39 | 0.8 | 0.26 | |
| GS-RelocNet (PR)Mapping Time=hrs, Pose Refine=true, Size (MB)=>200, Method Category=GS, Training Protocol=Per-scene Training-based2026.05 | 0.4 | 0.15 | 0.6 | 0.21 | 0.4 | 0.26 | 0.9 | 0.24 | 0.9 | 0.21 | 0.6 | 0.18 | 1.3 | 0.35 | 0.7 | 0.23 | |
| ULF-LocMethod Category=NeRF/GS2026.05 | 0.42 | 0.11 | 0.44 | 0.19 | 0.36 | 0.21 | 0.73 | 0.2 | 0.92 | 0.18 | 0.65 | 0.13 | 1.38 | 0.36 | 0.7 | 0.2 | |
| LiteLoc2026.05 | 0.45 | — | 0.49 | — | 0.4 | — | 0.75 | — | 0.88 | — | 0.62 | — | 1.5 | — | 0.73 | 0.22 | |
| STDLocMethod Category=NeRF/GS2026.05 | 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 | 0.8 | 0.24 | |
| STDLoc2026.05 | 0.46 | — | 0.57 | — | 0.45 | — | 0.86 | — | 0.93 | — | 0.63 | — | 1.42 | — | 0.76 | 0.24 | |
| LiteLoc (w/o Cond.)condensing strategy=None2026.05 | 0.46 | — | 0.47 | — | 0.4 | — | 0.74 | — | 0.88 | — | 0.62 | — | 1.49 | — | 0.72 | 0.22 | |
| DSAC*Method Category=SCR2026.03 | 0.5 | 0.17 | 0.8 | 0.28 | 0.5 | 0.34 | 1.2 | 0.34 | 1.2 | 0.28 | 0.7 | 0.21 | 2.7 | 0.78 | 1.1 | 0.34 | |
| ACEMethod Category=SCR2026.03 | 0.5 | 0.19 | 0.8 | 0.33 | 0.5 | 0.33 | 1.1 | 0.29 | 1.1 | 0.22 | 0.8 | 0.2 | 2.9 | 0.8 | 1.1 | 0.34 | |
| ACE + GS-CPRMethod Category=NVS2026.03 | 0.5 | 0.15 | 0.6 | 0.25 | 0.4 | 0.28 | 0.9 | 0.26 | 1 | 0.23 | 0.7 | 0.17 | 1.4 | 0.42 | 0.8 | 0.25 | |
| DSAC*Method Category=SCR2026.05 | 0.5 | 0.17 | 0.78 | 0.29 | 0.5 | 0.34 | 1.19 | 0.35 | 1.19 | 0.29 | 0.72 | 0.21 | 2.65 | 0.78 | 1.07 | 0.35 | |
| ACE+GS-CPRMethod Category=NeRF/GS2026.05 | 0.5 | 0.15 | 0.6 | 0.25 | 0.4 | 0.28 | 0.9 | 0.26 | 1 | 0.23 | 0.7 | 0.17 | 1.4 | 0.42 | 0.8 | 0.25 | |
| DSAC*Mapping Time=15h, Pose Refine=false, Size (MB)=28, Method Category=SCR2026.05 | 0.5 | 0.17 | 0.8 | 0.29 | 0.5 | 0.34 | 1.2 | 0.35 | 1.2 | 0.29 | 0.7 | 0.21 | 2.7 | 0.78 | 1.1 | 0.35 | |
| STDLoc (PR)Mapping Time=2h, Pose Refine=true, Size (MB)=888, Method Category=GS, Training Protocol=Per-scene Training-based2026.05 | 0.5 | 0.15 | 0.6 | 0.24 | 0.5 | 0.26 | 0.9 | 0.24 | 0.9 | 0.21 | 0.6 | 0.19 | 1.4 | 0.41 | 0.8 | 0.24 | |
| DSAC*2026.05 | 0.5 | — | 0.78 | — | 0.5 | — | 1.19 | — | 1.19 | — | 0.72 | — | 2.65 | — | 1.07 | 0.35 | |
| ACEMethod Category=SCR2026.05 | 0.55 | 0.18 | 0.83 | 0.33 | 0.53 | 0.33 | 1.05 | 0.29 | 1.06 | 0.22 | 0.77 | 0.21 | 2.89 | 0.81 | 1.1 | 0.34 | |
| ACE2026.05 | 0.55 | — | 0.83 | — | 0.53 | — | 1.05 | — | 1.06 | — | 0.77 | — | 2.89 | — | 1.1 | 0.34 | |
| GLACEMethod Category=SCR2026.03 | 0.6 | 0.18 | 0.9 | 0.34 | 0.6 | 0.35 | 1 | 0.29 | 0.9 | 0.23 | 0.8 | 0.2 | 3.1 | 0.95 | 1.1 | 0.36 | |
| L^3Method Category=NVS2026.03 | 0.6 | 0.21 | 1.2 | 0.46 | 0.7 | 0.41 | 1.1 | 0.32 | 1.4 | 0.34 | 1 | 0.26 | 3.1 | 0.87 | 1.3 | 0.41 | |
| GLACEMethod Category=SCR2026.05 | 0.6 | 0.18 | 0.9 | 0.34 | 0.6 | 0.34 | 1.1 | 0.29 | 0.9 | 0.23 | 0.8 | 0.2 | 3.2 | 0.93 | 1.2 | 0.36 | |
| ACEMapping Time=5min, Pose Refine=false, Size (MB)=4, Method Category=SCR2026.05 | 0.6 | 0.18 | 0.8 | 0.33 | 0.5 | 0.33 | 1.1 | 0.29 | 1.1 | 0.22 | 0.8 | 0.21 | 2.9 | 0.81 | 1.1 | 0.34 | |
| SplitGS-LocMapping Time=7min, Pose Refine=false, Size (MB)=88, Method Category=GS, Training Protocol=Per-scene Training-free2026.05 | 0.7 | 0.16 | 0.7 | 0.29 | 0.6 | 0.26 | 1.2 | 0.25 | 1.4 | 0.25 | 1 | 0.18 | 1.6 | 0.47 | 1 | 0.26 | |
| NeRFMatchMethod Category=NVS2026.03 | 0.9 | 0.3 | 1.1 | 0.4 | 1.5 | 1 | 3 | 0.8 | 2.2 | 0.6 | 1 | 0.3 | 10.1 | 1.7 | 2.8 | 0.7 | |
| PlugGS-LocMapping Time=7min, Pose Refine=false, Size (MB)=16, Method Category=GS, Training Protocol=Per-scene Training-free2026.05 | 0.9 | 0.18 | 0.9 | 0.31 | 0.7 | 0.3 | 1.4 | 0.3 | 1.6 | 0.27 | 1.3 | 0.23 | 1.8 | 0.5 | 1.2 | 0.3 | |
| NeRFMatchMethod Category=NeRF/GS2026.05 | 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 | |
| NeRFMatch2026.05 | 0.95 | — | 1.11 | — | 1.34 | — | 3.09 | — | 2.21 | — | 1.03 | — | 9.26 | — | 2.71 | 0.73 | |
| CROSSFIREMapping Time=5h, Pose Refine=true, Size (MB)=50, Method Category=NeRF, Training Protocol=Per-scene Training-based2026.05 | 1 | 0.4 | 5 | 1.9 | 3 | 2.3 | 5 | 1.6 | 3 | 0.8 | 2 | 0.8 | 12 | 1.9 | 4.4 | 1.38 | |
| NeRFMatchMapping Time=hrs, Pose Refine=true, Size (MB)=~55, Method Category=NeRF, Training Protocol=Per-scene Training-based2026.05 | 1 | 0.3 | 1.1 | 0.41 | 1.3 | 0.92 | 3.1 | 0.87 | 2.2 | 0.6 | 1 | 0.28 | 9.3 | 1.74 | 2.7 | 0.73 | |
| STDLocMapping Time=2h, Pose Refine=false, Size (MB)=16, Method Category=GS, Training Protocol=Per-scene Training-based2026.05 | 1 | 0.21 | 0.9 | 0.3 | 0.6 | 0.3 | 1.4 | 0.3 | 1.2 | 0.22 | 1.4 | 0.23 | 2.7 | 0.71 | 1.3 | 0.32 | |
| GS-RelocNet (PR)Mapping Time=6min, Pose Refine=true, Size (MB)=~175, Method Category=GS, Training Protocol=Per-scene Training-free2026.05 | 1 | 0.72 | 1 | 0.64 | 0.6 | 0.7 | 1.4 | 0.82 | 2.2 | 0.93 | 2 | 1.02 | 1.9 | 0.92 | 1.4 | 0.82 | |
| CROSSFIRE2026.05 | 1 | — | 5 | — | 3 | — | 5 | — | 3 | — | 2 | — | 12 | — | 4.43 | 1.38 | |
| GS-RelocNetMapping Time=6min, Pose Refine=false, Size (MB)=~175, Method Category=GS, Training Protocol=Per-scene Training-free2026.05 | 1.3 | 0.81 | 1.2 | 0.65 | 0.7 | 0.73 | 1.6 | 0.89 | 2.7 | 1.01 | 2.5 | 1.1 | 2.1 | 1 | 1.7 | 0.88 | |
| MarepoMethod Category=APR2026.03 | 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 | |
| MarepoMethod Category=APR2026.05 | 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 | |
| pNeRFLocMethod Category=NVS2026.03 | 2 | 0.8 | 2 | 0.88 | 1 | 0.83 | 3 | 1.05 | 6 | 1.51 | 5 | 1.54 | 32 | 5.73 | 7.3 | 1.76 | |
| DFNet + NeFeS50Method Category=NVS2026.03 | 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 | |
| HR-APRMethod Category=NVS2026.03 | 2 | 0.55 | 2 | 0.75 | 2 | 1.45 | 2 | 0.64 | 2 | 0.62 | 2 | 0.67 | 5 | 1.3 | 2.4 | 0.85 | |
| MCLocMethod Category=NVS2026.03 | 2 | 0.8 | 3 | 1.4 | 3 | 1.3 | 4 | 1.3 | 5 | 1.6 | 6 | 1.6 | 6 | 2 | 4.1 | 1.43 | |
| NeuMapMethod Category=SCR2026.05 | 2 | 0.81 | 3 | 1.11 | 2 | 1.17 | 3 | 0.98 | 4 | 1.11 | 4 | 1.33 | 4 | 1.12 | 3.14 | 0.95 | |
| DFNet+NeFeS50Method Category=NeRF/GS2026.05 | 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 | |
| HR-APRMethod Category=NeRF/GS2026.05 | 2 | 0.55 | 2 | 0.75 | 2 | 1.45 | 2 | 0.64 | 2 | 0.62 | 2 | 0.67 | 5 | 1.3 | 2.4 | 0.85 | |
| PNeRFLocMethod Category=NeRF/GS2026.05 | 2 | 0.8 | 2 | 0.88 | 1 | 0.83 | 3 | 1.05 | 6 | 1.51 | 5 | 1.54 | 32 | 5.73 | 7.29 | 1.76 | |
| MCLocMethod Category=NeRF/GS2026.05 | 2 | 0.8 | 3 | 1.4 | 3 | 1.3 | 4 | 1.3 | 5 | 1.6 | 6 | 1.6 | 6 | 2 | 4.1 | 1.43 | |
| PixLocMapping Time=0, Pose Refine=true, Size (MB)=~1000, Method Category=FM2026.05 | 2 | 0.8 | 2 | 0.73 | 1 | 0.82 | 3 | 0.82 | 4 | 1.21 | 3 | 1.2 | 5 | 1.3 | 2.9 | 0.98 | |
| PNeRFLocMapping Time=hrs, Pose Refine=true, Size (MB)=~50, Method Category=NeRF, Training Protocol=Per-scene Training-based2026.05 | 2 | 0.8 | 2 | 0.88 | 1 | 0.83 | 3 | 1.05 | 6 | 1.51 | 5 | 1.54 | 32 | 5.73 | 7.3 | 1.76 | |
| NeuMap2026.05 | 2 | — | 3 | — | 2 | — | 3 | — | 4 | — | 4 | — | 4 | — | 3.14 | 0.95 | |
| DFNet+NeFeS502026.05 | 2 | — | 2 | — | 2 | — | 2 | — | 2 | — | 2 | — | 5 | — | 2.43 | 0.79 | |
| PNeRFLoc2026.05 | 2 | — | 2 | — | 1 | — | 3 | — | 6 | — | 5 | — | 32 | — | 7.29 | 1.76 | |
| HLocMethod Category=FM, Feature Extractor=SP+SG2026.05 | 2.39 | 0.84 | 2.29 | 0.91 | 1.13 | 0.77 | 3.14 | 0.92 | 4.92 | 1.3 | 4.22 | 1.39 | 5.05 | 1.41 | 3.31 | 1.08 | |
| HLoc (SP+SG)feature=SuperPoint, matcher=SuperGlue2026.05 | 2.39 | — | 2.29 | — | 1.13 | — | 3.14 | — | 4.92 | — | 4.22 | — | 5.05 | — | 3.31 | 1.08 | |
| HLoc (SP+SG)Mapping Time=0, Pose Refine=false, Size (MB)=~2000, Method Category=FM2026.05 | 2.4 | 0.84 | 2.3 | 0.91 | 1.1 | 0.77 | 3.1 | 0.92 | 4.9 | 1.3 | 4.2 | 1.39 | 5.1 | 1.41 | 3.3 | 1.08 | |
| DVLAD+R2D2Method Category=FM2026.05 | 2.56 | 0.88 | 2.21 | 0.86 | 0.98 | 0.75 | 3.48 | 1 | 4.79 | 1.28 | 4.21 | 1.44 | 4.6 | 1.27 | 3.26 | 1.07 | |
| DFNetMethod Category=APR2026.03 | 3 | 1.12 | 6 | 2.3 | 4 | 2.29 | 6 | 1.54 | 7 | 1.92 | 7 | 1.74 | 12 | 2.63 | 6 | 1.93 | |
| ASMethod Category=FM, Feature Extractor=SIFT2026.05 | 3 | 0.87 | 2 | 1.01 | 1 | 0.82 | 4 | 1.15 | 7 | 1.69 | 5 | 1.72 | 4 | 1.01 | 3.71 | 1.18 | |
| DFNetMethod Category=APR2026.05 | 3 | 1.12 | 6 | 2.3 | 4 | 2.29 | 6 | 1.54 | 7 | 1.92 | 7 | 1.74 | 12 | 2.63 | 6 | 1.93 | |
| PMNetMethod Category=APR2026.05 | 3 | 1.26 | 4 | 1.76 | 2 | 1.68 | 6 | 1.69 | 7 | 1.96 | 8 | 2.23 | 11 | 2.97 | 6 | 1.93 | |
| AS (SIFT)Mapping Time=0, Pose Refine=false, Size (MB)=~200, Method Category=FM2026.05 | 3 | 0.87 | 2 | 1.01 | 1 | 0.82 | 4 | 1.15 | 7 | 1.69 | 5 | 1.72 | 4 | 1.01 | 3.7 | 1.18 | |
| AS (SIFT)feature=SIFT2026.05 | 3 | — | 2 | — | 1 | — | 4 | — | 7 | — | 5 | — | 4 | — | 3.71 | 1.18 | |
| PoseNetMethod Category=APR2026.03 | 10 | 4.02 | 27 | 10 | 18 | 13 | 17 | 5.97 | 19 | 4.67 | 22 | 5.91 | 35 | 10.5 | 21 | 7.74 |