Visual Localization on 7Scenes Stairs
1.03Median Translation Error (cm)SplatHLoc
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| SplatHLocMethod Category=Ren. (GS)2026.03 | 1.03 | 0.3 | — | |
| RAPrefMethod Category=Ren. (GS)2026.03 | 1.11 | 0.32 | — | |
| ACE+GS-CPRMethod Category=Ren. (GS)2026.03 | 1.4 | 0.42 | — | |
| STDLocMethod Category=Ren. (GS)2026.03 | 1.42 | 0.41 | — | |
| LoGSMethod Category=Ren. (GS)2026.03 | 1.6 | 0.43 | — | |
| NBE+SLDMethod Category=Reg.2026.03 | 2.6 | 0.72 | — | |
| DSAC*Method Category=Reg.2026.03 | 2.65 | 0.78 | — | |
| ACEMethod Category=Reg.2026.03 | 2.89 | 0.81 | — | |
| GSplatLoc (Fine)Method Category=Ren. (GS)2026.03 | 3.44 | 0.82 | — | |
| LimapLocalization paradigm=Matching-based, Input features=Point & line2026.02 | 3.7 | 1.02 | 71.1 | |
| LiP-MapLocalization paradigm=Matching-based, Input features=Point & line2026.02 | 3.9 | 0.97 | 65.9 | |
| AS (SIFT)Method Category=Str.2026.03 | 4 | 1.01 | — | |
| NeuMapMethod Category=Reg.2026.03 | 4 | 1.12 | — | |
| SplatHLocinitMethod Category=Str.2026.03 | 4.4 | 1.14 | — | |
| DVLAD+R2D2Method Category=Str.2026.03 | 4.6 | 1.27 | — | |
| PtLineLocalization paradigm=Matching-based, Input features=Point & line2026.02 | 4.8 | 1.33 | 51.9 | |
| DFNetS50Method Category=Ren. (NeRF)2026.03 | 5 | 1.28 | — | |
| HLoc (SP+SG)Method Category=Str.2026.03 | 5.05 | 1.41 | — | |
| HlocLocalization paradigm=Matching-based, Input features=Point2026.02 | 5.2 | 1.46 | 46.8 | |
| LiP-MapLocalization paradigm=Learning-based, Input features=Point & line2026.02 | 7.4 | 2.1 | 34.1 | |
| Pl2MapLocalization paradigm=Learning-based, Input features=Point & line2026.02 | 7.6 | 2 | 33.3 | |
| Pl2MapLocalization paradigm=Learning-based, Input features=Point2026.02 | 8.5 | 2.4 | 27.8 | |
| NeRFMatchMethod Category=Ren. (NeRF)2026.03 | 9.26 | 1.74 | — | |
| CrossFireMethod Category=Ren. (NeRF)2026.03 | 12 | 1.9 | — | |
| PNeRFLocMethod Category=Ren. (NeRF)2026.03 | 32 | 5.73 | — |