Visual Localization on 7scenes indoor
1Positional Error (Chess, cm)CROSSFIRE
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| CROSSFIREMethod category=Pose Refiners2024.04 | 1 | 0.4 | 5 | 1.9 | 3 | 2.3 | 5 | 1.6 | 3 | 0.8 | 2 | 0.8 | 12 | 1.9 | |
| HSCNetCategory=Dense, Scene-specific training=true2024.02 | 2 | 0.7 | 2 | 0.9 | 1 | 0.9 | 3 | 0.8 | 4 | 1 | 4 | 1.2 | 3 | 0.8 | |
| DSAC++Category=Dense, Scene-specific training=true2024.02 | 2 | 0.5 | 2 | 0.9 | 1 | 0.8 | 3 | 0.7 | 4 | 1.1 | 4 | 1.1 | 9 | 2.6 | |
| DSAC*Category=Dense, Scene-specific training=true2024.02 | 2 | 1.1 | 2 | 1.24 | 1 | 1.82 | 3 | 1.15 | 4 | 1.34 | 4 | 1.68 | 3 | 1.16 | |
| DSMCategory=Dense, Scene-specific training=false2024.02 | 2 | 0.68 | 2 | 0.8 | 1 | 0.8 | 3 | 0.78 | 4 | 1.11 | 4 | 1.16 | 43 | 0.19 | |
| PixLocCategory=Sparse2024.02 | 2 | 0.8 | 2 | 0.73 | 1 | 0.82 | 3 | 0.82 | 4 | 1.21 | 3 | 1.2 | 5 | 1.3 | |
| HLoc[SP+SG]Category=Sparse2024.02 | 2 | 0.84 | 2 | 0.93 | 1 | 0.74 | 3 | 0.92 | 5 | 1.27 | 4 | 1.4 | 5 | 1.47 | |
| NeuMapCategory=Semi-dense2024.02 | 2 | 0.81 | 3 | 1.11 | 2 | 1.17 | 3 | 0.98 | 4 | 1.11 | 4 | 1.33 | 4 | 1.12 | |
| DeViLocCategory=Semi-dense2024.02 | 2 | 0.78 | 2 | 0.74 | 1 | 0.65 | 3 | 0.82 | 4 | 1.02 | 3 | 1.19 | 4 | 1.12 | |
| DSACMethod category=SOTA2024.04 | 2 | 1.1 | 2 | 1.24 | 1 | 1.82 | 3 | 1.15 | 4 | 1.34 | 4 | 1.68 | 3 | 1.16 | |
| HACNetMethod category=SOTA2024.04 | 2 | 0.7 | 2 | 0.9 | 1 | 0.9 | 3 | 0.8 | 4 | 1 | 4 | 1.2 | 3 | 0.8 | |
| hlocMethod category=SOTA2024.04 | 2 | 0.85 | 2 | 0.94 | 1 | 0.75 | 3 | 0.92 | 5 | 1.3 | 4 | 1.4 | 5 | 1.47 | |
| NeFeS2024.04 | 2 | 0.8 | 2 | 0.8 | 2 | 1.4 | 2 | 0.6 | 2 | 0.6 | 2 | 0.6 | 5 | 1.3 | |
| MCLoc2024.04 | 2 | 0.8 | 3 | 1.4 | 3 | 1.3 | 4 | 1.3 | 5 | 1.6 | 6 | 1.6 | 6 | 2 | |
| MCLocPre-trained features=RoMa2024.04 | 2 | 0.7 | 3 | 1.2 | 2 | 1 | 3 | 1.1 | 4 | 1 | 5 | 1.4 | 6 | 1.5 | |
| SANetCategory=Dense, Scene-specific training=false2024.02 | 3 | 0.88 | 3 | 1.08 | 2 | 1.48 | 3 | 1 | 5 | 1.32 | 4 | 1.4 | 16 | 4.59 | |
| ASCategory=Sparse2024.02 | 3 | 0.87 | 2 | 1.01 | 1 | 0.82 | 4 | 1.15 | 7 | 1.69 | 5 | 1.72 | 4 | 1.01 | |
| InLocCategory=Sparse2024.02 | 3 | 1.05 | 3 | 1.07 | 2 | 1.16 | 3 | 1.05 | 5 | 1.55 | 4 | 1.31 | 9 | 2.47 | |
| HLoc[LoFTR]Category=Sparse2024.02 | 3 | 0.93 | 2 | 0.87 | 1 | 0.73 | 4 | 1.02 | 5 | 1.24 | 5 | 1.48 | 6 | 1.47 | |
| ASMethod category=SOTA2024.04 | 3 | 0.87 | 2 | 1.01 | 1 | 0.82 | 4 | 1.15 | 7 | 1.69 | 5 | 1.72 | 4 | 1.01 | |
| LENSMethod category=Pose Regressors2024.04 | 3 | 1.3 | 10 | 3.7 | 7 | 5.8 | 7 | 1.9 | 8 | 2.2 | 9 | 2.2 | 14 | 3.6 | |
| DFNet2024.04 | 3 | 1.1 | 6 | 2.3 | 4 | 2.3 | 6 | 1.5 | 7 | 1.9 | 7 | 1.7 | 12 | 2.6 | |
| MCLocPre-trained features=DINOv22024.04 | 3 | 0.9 | 4 | 1.8 | 3 | 1.5 | 6 | 1.4 | 7 | 2.1 | 8 | 1.8 | 9 | 2.2 | |
| FQN-PnPMethod category=Pose Refiners2024.04 | 4 | 1.3 | 10 | 3 | 4 | 2.4 | 10 | 3 | 9 | 2.4 | 16 | 4.4 | 140 | 34.7 | |
| DFNetMethod category=Pose Regressors2024.04 | 5 | 1.9 | 17 | 6.5 | 6 | 3.6 | 8 | 2.5 | 10 | 2.8 | 22 | 5.5 | 16 | 2.4 | |
| MCLocMethod category=Pose Refiners2024.04 | 5 | 1.8 | 4 | 2 | 4 | 1.9 | 10 | 3.6 | 10 | 3.7 | 8 | 3.1 | 10 | 2.5 | |
| MS-Transf.Method category=Pose Regressors2024.04 | 11 | 4.7 | 24 | 9.6 | 14 | 12.2 | 17 | 5.66 | 18 | 4.4 | 17 | 6 | 17 | 5.9 | |
| MS-Transf.2024.04 | 11 | 6.4 | 23 | 11.5 | 13 | 13 | 18 | 8.1 | 17 | 8.4 | 16 | 8.9 | 29 | 10.3 | |
| DenseVLADMethod category=Retrieval2024.04 | 21 | 12.5 | 33 | 13.8 | 15 | 14.9 | 28 | 11.2 | 31 | 11.3 | 30 | 12.3 | 25 | 15.8 | |
| CosPlaceMethod category=Retrieval2024.04 | 31 | 11.4 | 45 | 14.6 | 23 | 13.7 | 43 | 11.2 | 52 | 11.4 | 48 | 11.1 | 46 | 14.8 |