Visual Localization on 7Scenes Office
0.59Median Translation Error (cm)RAPref
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| RAPrefMethod Category=Ren. (GS)2026.03 | 0.59 | 0.17 | — | |
| SplatHLocMethod Category=Ren. (GS)2026.03 | 0.62 | 0.18 | — | |
| LoGSMethod Category=Ren. (GS)2026.03 | 0.7 | 0.22 | — | |
| HLoc(SP+SG)Method category=SBM, Privacy-preserving Features (P.V.)=N/A, Robust to attack (R.T.)=true2026.04 | 0.7 | 0.2 | 100 | |
| HLoc(SP+NN)Method category=SBM, Privacy-preserving Features (P.V.)=N/A, Robust to attack (R.T.)=true2026.04 | 0.8 | 0.21 | 99 | |
| STDLocMethod Category=Ren. (GS)2026.03 | 0.86 | 0.24 | — | |
| ACE+GS-CPRMethod Category=Ren. (GS)2026.03 | 0.9 | 0.26 | — | |
| ACEMethod category=SBM, Privacy-preserving Features (P.V.)=N/A, Robust to attack (R.T.)=true2026.04 | 1 | 0.29 | — | |
| Random LinesMethod category=PPM, Privacy-preserving Features (P.V.)=true, Robust to attack (R.T.)=true2026.04 | 1 | 0.29 | 98 | |
| ACEMethod Category=Reg.2026.03 | 1.05 | 0.29 | — | |
| DSAC*Method Category=Reg.2026.03 | 1.19 | 0.35 | — | |
| DSAC*Method category=SBM, Privacy-preserving Features (P.V.)=N/A, Robust to attack (R.T.)=true2026.04 | 1.2 | 0.34 | 98 | |
| NBE+SLDMethod Category=Reg.2026.03 | 1.3 | 0.33 | — | |
| GSplatLoc (Fine)Method Category=Ren. (GS)2026.03 | 1.41 | 0.32 | — | |
| GSFF PrivacyMethod category=PPM, Privacy-preserving Features (P.V.)=true, Robust to attack (R.T.)=false2026.04 | 1.5 | 0.51 | 90 | |
| DFNetS50Method Category=Ren. (NeRF)2026.03 | 2 | 0.56 | — | |
| DCLMethod category=PPM, Privacy-preserving Features (P.V.)=false, Robust to attack (R.T.)=true2026.04 | 2 | 0.61 | 83 | |
| Pl2MapLocalization paradigm=Learning-based, Input features=Point & line2026.02 | 2.7 | 0.74 | 84.3 | |
| LiP-MapLocalization paradigm=Learning-based, Input features=Point & line2026.02 | 2.7 | 0.73 | 83.9 | |
| Pl2MapLocalization paradigm=Learning-based, Input features=Point2026.02 | 2.8 | 0.78 | 82.3 | |
| LimapLocalization paradigm=Matching-based, Input features=Point & line2026.02 | 3 | 0.89 | 78.4 | |
| LiP-MapLocalization paradigm=Matching-based, Input features=Point & line2026.02 | 3 | 0.9 | 78.6 | |
| NeuMapMethod Category=Reg.2026.03 | 3 | 0.98 | — | |
| PNeRFLocMethod Category=Ren. (NeRF)2026.03 | 3 | 1.05 | — | |
| NeRFMatchMethod Category=Ren. (NeRF)2026.03 | 3.09 | 0.87 | — | |
| HlocLocalization paradigm=Matching-based, Input features=Point2026.02 | 3.1 | 0.91 | 77 | |
| HLoc (SP+SG)Method Category=Str.2026.03 | 3.14 | 0.92 | — | |
| PtLineLocalization paradigm=Matching-based, Input features=Point & line2026.02 | 3.2 | 0.96 | 74.5 | |
| SplatHLocinitMethod Category=Str.2026.03 | 3.33 | 0.66 | — | |
| DVLAD+R2D2Method Category=Str.2026.03 | 3.48 | 1 | — | |
| AS (SIFT)Method Category=Str.2026.03 | 4 | 1.15 | — | |
| CrossFireMethod Category=Ren. (NeRF)2026.03 | 5 | 1.6 | — | |
| DGC-GNNMethod category=PPM, Privacy-preserving Features (P.V.)=true, Robust to attack (R.T.)=true2026.04 | 7 | 1.66 | — | |
| GoMatchMethod category=PPM, Privacy-preserving Features (P.V.)=true, Robust to attack (R.T.)=true2026.04 | 11 | 2.48 | — |