Visual Localization on 7Scenes Fire
0.44Median Translation Error (cm)SplatHLoc
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| SplatHLocMethod Category=Ren. (GS)2026.03 | 0.44 | 0.19 | — | |
| RAPrefMethod Category=Ren. (GS)2026.03 | 0.51 | 0.21 | — | |
| STDLocMethod Category=Ren. (GS)2026.03 | 0.57 | 0.24 | — | |
| ACE+GS-CPRMethod Category=Ren. (GS)2026.03 | 0.6 | 0.25 | — | |
| LoGSMethod Category=Ren. (GS)2026.03 | 0.6 | 0.18 | — | |
| HLoc(SP+SG)Method category=SBM, Privacy-preserving Features (P.V.)=N/A, Robust to attack (R.T.)=true2026.04 | 0.6 | 0.25 | 100 | |
| HLoc(SP+NN)Method category=SBM, Privacy-preserving Features (P.V.)=N/A, Robust to attack (R.T.)=true2026.04 | 0.6 | 0.25 | 100 | |
| NBE+SLDMethod Category=Reg.2026.03 | 0.7 | 0.26 | — | |
| DSAC*Method Category=Reg.2026.03 | 0.78 | 0.29 | — | |
| DSAC*Method category=SBM, Privacy-preserving Features (P.V.)=N/A, Robust to attack (R.T.)=true2026.04 | 0.8 | 0.28 | 99 | |
| ACEMethod category=SBM, Privacy-preserving Features (P.V.)=N/A, Robust to attack (R.T.)=true2026.04 | 0.8 | 0.33 | — | |
| GSFF PrivacyMethod category=PPM, Privacy-preserving Features (P.V.)=true, Robust to attack (R.T.)=false2026.04 | 0.8 | 0.33 | 94 | |
| ACEMethod Category=Reg.2026.03 | 0.83 | 0.33 | — | |
| Random LinesMethod category=PPM, Privacy-preserving Features (P.V.)=true, Robust to attack (R.T.)=true2026.04 | 0.9 | 0.35 | 99 | |
| GSplatLoc (Fine)Method Category=Ren. (GS)2026.03 | 0.91 | 0.29 | — | |
| NeRFMatchMethod Category=Ren. (NeRF)2026.03 | 1.11 | 0.41 | — | |
| SplatHLocinitMethod Category=Str.2026.03 | 1.5 | 0.53 | — | |
| Pl2MapLocalization paradigm=Learning-based, Input features=Point & line2026.02 | 1.9 | 0.8 | 94 | |
| LiP-MapLocalization paradigm=Learning-based, Input features=Point & line2026.02 | 1.9 | 0.8 | 93.8 | |
| LiP-MapLocalization paradigm=Matching-based, Input features=Point & line2026.02 | 2 | 0.83 | 93.4 | |
| Pl2MapLocalization paradigm=Learning-based, Input features=Point2026.02 | 2 | 0.81 | 93.3 | |
| AS (SIFT)Method Category=Str.2026.03 | 2 | 1.01 | — | |
| DFNetS50Method Category=Ren. (NeRF)2026.03 | 2 | 0.74 | — | |
| PNeRFLocMethod Category=Ren. (NeRF)2026.03 | 2 | 0.88 | — | |
| DCLMethod category=PPM, Privacy-preserving Features (P.V.)=false, Robust to attack (R.T.)=true2026.04 | 2 | 0.76 | 81 | |
| LimapLocalization paradigm=Matching-based, Input features=Point & line2026.02 | 2.1 | 0.84 | 95.5 | |
| DVLAD+R2D2Method Category=Str.2026.03 | 2.21 | 0.86 | — | |
| HLoc (SP+SG)Method Category=Str.2026.03 | 2.29 | 0.91 | — | |
| HlocLocalization paradigm=Matching-based, Input features=Point2026.02 | 2.3 | 0.89 | 88.9 | |
| PtLineLocalization paradigm=Matching-based, Input features=Point & line2026.02 | 2.3 | 0.91 | 87.9 | |
| NeuMapMethod Category=Reg.2026.03 | 3 | 1.11 | — | |
| CrossFireMethod Category=Ren. (NeRF)2026.03 | 5 | 1.9 | — | |
| DGC-GNNMethod category=PPM, Privacy-preserving Features (P.V.)=true, Robust to attack (R.T.)=true2026.04 | 5 | 1.81 | — | |
| GoMatchMethod category=PPM, Privacy-preserving Features (P.V.)=true, Robust to attack (R.T.)=true2026.04 | 13 | 3.86 | — |