Visual Localization on 7Scenes (test)
0.12Chess Median Angular Error (°)Marepo + Ours
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Marepo + OursCategory=NRP, Base Model=Marepo, Refinement=UGS-Loc2026.03 | 0.12 | 0.37 | 0.48 | 0.2 | 0.36 | 0.26 | 0.78 | 0.22 | 0.81 | 0.18 | 0.59 | 0.15 | 1.13 | 0.34 | 0.65 | 0.21 | |
| ACE + OursCategory=NRP, Base Model=ACE, Refinement=UGS-Loc2026.03 | 0.12 | 0.37 | 0.47 | 0.2 | 0.36 | 0.25 | 0.77 | 0.22 | 0.79 | 0.18 | 0.58 | 0.15 | 1.11 | 0.33 | 0.64 | 0.21 | |
| STDLocMethod Category=NeRF/GS2025.03 | 0.15 | 0.46 | 0.57 | 0.24 | 0.45 | 0.26 | 0.86 | 0.24 | 0.93 | 0.21 | 0.63 | 0.19 | 1.42 | 0.41 | 0.76 | 0.24 | |
| ACE + GS-CPRCategory=NRP, Base Model=ACE, Refinement=GS-CPR2026.03 | 0.15 | 0.5 | 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 | |
| STDLocCategory=NRP2026.03 | 0.15 | 0.46 | 0.57 | 0.24 | 0.45 | 0.26 | 0.86 | 0.24 | 0.93 | 0.21 | 0.63 | 0.19 | 1.42 | 0.41 | 0.76 | 0.24 | |
| DFNet + OursCategory=NRP, Base Model=DFNet, Refinement=UGS-Loc2026.03 | 0.16 | 0.36 | 0.48 | 0.2 | 0.37 | 0.25 | 0.77 | 0.21 | 0.81 | 0.18 | 0.59 | 0.15 | 1.21 | 0.35 | 0.66 | 0.21 | |
| DSAC*Method Category=SCR2025.03 | 0.17 | 0.5 | 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 | |
| DSAC*Category=SCR2026.03 | 0.17 | 0.5 | 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=SCR2025.03 | 0.18 | 0.55 | 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 | |
| NBE+SLDMethod Category=SCR2025.03 | 0.18 | 0.6 | 0.7 | 0.26 | 0.6 | 0.35 | 1.3 | 0.33 | 1.5 | 0.33 | 0.8 | 0.19 | 2.6 | 0.72 | 1.16 | 0.34 | |
| ACECategory=SCR2026.03 | 0.18 | 0.5 | 0.8 | 0.33 | 0.5 | 0.33 | 1 | 0.29 | 1 | 0.22 | 0.8 | 0.2 | 2.9 | 0.81 | 1.1 | 0.34 | |
| GLACECategory=SCR2026.03 | 0.18 | 0.6 | 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 | |
| Marepo + GS-CPRCategory=NRP, Base Model=Marepo, Refinement=GS-CPR2026.03 | 0.18 | 0.6 | 0.7 | 0.28 | 0.5 | 0.32 | 1.1 | 0.29 | 1 | 0.26 | 0.8 | 0.21 | 1.5 | 0.44 | 0.9 | 0.28 | |
| DFNet + GS-CPRCategory=NRP, Base Model=DFNet, Refinement=GS-CPR2026.03 | 0.2 | 0.7 | 0.9 | 0.32 | 0.6 | 0.36 | 1.2 | 0.32 | 1.3 | 0.31 | 0.9 | 0.25 | 2.2 | 0.61 | 1.1 | 0.34 | |
| NeRFMatchMethod Category=NeRF/GS2025.03 | 0.3 | 0.95 | 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 | |
| NeRFMatchCategory=NRP2026.03 | 0.3 | 0.9 | 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 | |
| CROSSFIREMethod Category=NeRF/GS2025.03 | 0.4 | 1 | 5 | 1.9 | 3 | 2.3 | 5 | 1.6 | 3 | 0.8 | 2 | 0.8 | 12 | 1.9 | 4.43 | 1.38 | |
| CrossFireCategory=NRP2026.03 | 0.4 | 1 | 5 | 1.9 | 3 | 2.3 | 5 | 1.6 | 3 | 0.8 | 2 | 0.8 | 12 | 1.9 | 4.4 | 1.38 | |
| VS-NetMethod Category=SSL2021.05 | 0.5 | — | — | 0.8 | — | 0.7 | — | 0.6 | — | 1 | — | 1.1 | — | 0.8 | — | 0.8 | |
| DSAC++Method Category=Scene Coordinate2021.05 | 0.5 | — | — | 0.9 | — | 0.8 | — | 0.7 | — | 1.1 | — | 1.1 | — | 2.5 | — | 1.1 | |
| DFNet+NeFeS50Method Category=NeRF/GS2025.03 | 0.57 | 2 | 2 | 0.74 | 2 | 1.28 | 2 | 0.56 | 2 | 0.55 | 2 | 0.57 | 5 | 1.28 | 2.43 | 0.79 | |
| DFNet + NeFeS50Category=NRP, Base Model=DFNet, Refinement=NeFeS502026.03 | 0.57 | 2 | 2 | 0.74 | 2 | 1.28 | 2 | 0.56 | 2 | 0.55 | 2 | 0.57 | 5 | 1.28 | 2.4 | 0.79 | |
| HSC-NetMethod Category=Scene Coordinate2021.05 | 0.7 | — | — | 0.8 | — | 0.3 | — | 0.8 | — | 1 | — | 1.8 | — | 0.8 | — | 1 | |
| HSCNetNo Desc. Maint.=true, Privacy=true, Method Category=End-to-end (E2E), MB used=10362023.06 | 0.7 | 2 | 2 | 0.9 | 1 | 0.9 | 3 | 0.8 | 4 | 1 | 4 | 1.2 | 3 | 0.8 | — | — | |
| ACEMethod category=SCR, Mapping Time=5 Minutes2024.04 | 0.7 | 1.9 | 1.9 | 0.9 | 0.9 | 0.6 | 2.7 | 0.8 | 4.2 | 1.1 | 4.2 | 1.3 | 3.9 | 1.1 | 2.8 | 0.93 | |
| PNeRFLocMethod Category=NeRF/GS2025.03 | 0.8 | 2 | 2 | 0.88 | 1 | 0.83 | 3 | 1.05 | 6 | 1.51 | 5 | 1.54 | 32 | 5.73 | 7.29 | 1.76 | |
| pNeRFLocCategory=NRP2026.03 | 0.8 | 2 | 2 | 0.88 | 1 | 0.83 | 3 | 1.05 | 6 | 1.51 | 5 | 1.54 | 32 | 5.73 | 7.3 | 1.76 | |
| MCLocCategory=NRP2026.03 | 0.8 | 2 | 3 | 1.4 | 3 | 1.3 | 4 | 1.3 | 5 | 1.6 | 6 | 1.6 | 6 | 2 | 4.1 | 1.43 | |
| NeuMapMethod Category=SCR2025.03 | 0.81 | 2 | 3 | 1.11 | 2 | 1.17 | 3 | 0.98 | 4 | 1.11 | 4 | 1.33 | 4 | 1.12 | 3.14 | 0.95 | |
| MarepoCategory=APR2026.03 | 0.83 | 1.9 | 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 | |
| HLoc (SP+SG)Method Category=FM2025.03 | 0.84 | 2.39 | 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 | |
| RAPCategory=APR2026.03 | 0.84 | 1 | 6 | 3.44 | 4 | 5.48 | 5 | 1.92 | 4 | 1.71 | 7 | 2.11 | 9 | 2.1 | 5 | 2.51 | |
| SP+SGNo Desc. Maint.=false, Privacy=false, Method Category=Descriptor-based (DB), MB used=229772023.06 | 0.85 | 2 | 2 | 0.94 | 1 | 0.75 | 3 | 0.92 | 5 | 1.3 | 4 | 1.4 | 5 | 1.47 | — | — | |
| ASNo Desc. Maint.=false, Privacy=false, Method Category=Descriptor-based (DB), MB used=3022023.06 | 0.87 | 3 | 2 | 1.01 | 1 | 0.82 | 4 | 1.15 | 7 | 1.69 | 5 | 1.72 | 4 | 1.01 | — | — | |
| AS (SIFT)Method Category=FM2025.03 | 0.87 | 3 | 2 | 1.01 | 1 | 0.82 | 4 | 1.15 | 7 | 1.69 | 5 | 1.72 | 4 | 1.01 | 3.71 | 1.18 | |
| DVLAD+R2D2Method Category=FM2025.03 | 0.88 | 2.56 | 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 | |
| HF-NetMethod Category=SfM2021.05 | 0.9 | — | — | 1 | — | 0.9 | — | 1.2 | — | 1.6 | — | 1.6 | — | 1.9 | — | 1.3 | |
| RegMethod Category=Scene Coordinate2021.05 | 1 | — | — | 0.9 | — | 0.8 | — | 0.9 | — | 1.1 | — | 1.4 | — | 0.9 | — | 1 | |
| DSAC*No Desc. Maint.=true, Privacy=true, Method Category=End-to-end (E2E), MB used=1962023.06 | 1.1 | 2 | 2 | 1.24 | 1 | 1.82 | 3 | 1.15 | 4 | 1.34 | 4 | 1.68 | 3 | 1.16 | — | — | |
| DSAC*Method category=SCR, Mapping Time=Hours2024.04 | 1.11 | 1.9 | 1.9 | 1.24 | 1.1 | 1.82 | 2.6 | 1.18 | 4.2 | 1.41 | 3 | 1.7 | 4.2 | 1.42 | 2.7 | 1.41 | |
| DFNetCategory=APR2026.03 | 1.12 | 3 | 6 | 2.3 | 4 | 2.29 | 6 | 1.54 | 7 | 1.92 | 7 | 1.74 | 12 | 2.63 | 6 | 1.93 | |
| DFNet (EB0)Method category=APR, Mapping Time=Days2024.04 | 1.15 | 3 | 9 | 3.71 | 8 | 6.08 | 7 | 2.14 | 10 | 2.76 | 9 | 2.87 | 11 | 5.58 | 8 | 3.47 | |
| marepoSMethod category=APR, Mapping Time=< 15 Minutes, Fine-tuning=true2024.04 | 1.24 | 2.1 | 2.3 | 1.39 | 1.8 | 2.03 | 2.8 | 1.26 | 3.5 | 1.48 | 4.2 | 1.71 | 5.6 | 1.67 | 3.2 | 1.54 | |
| LENSMethod category=APR, Mapping Time=Days2024.04 | 1.3 | 3 | 10 | 3.7 | 7 | 5.8 | 7 | 1.9 | 8 | 2.2 | 9 | 2.2 | 14 | 3.6 | 8 | 3 | |
| FQN-MNCategory=NRP2026.03 | 1.31 | 4.1 | 10.5 | 2.97 | 9.2 | 2.45 | 3.6 | 2.36 | 4.6 | 1.76 | 16.1 | 4.42 | 139.5 | 34.67 | 28 | 7.3 | |
| marepoMethod category=APR, Mapping Time=5 Minutes, Fine-tuning=false2024.04 | 1.35 | 2.6 | 2.5 | 1.42 | 2.3 | 2.21 | 3.6 | 1.44 | 4.2 | 1.55 | 5.1 | 1.99 | 6.7 | 1.83 | 3.9 | 1.68 | |
| DGC-GNNNo Desc. Maint.=true, Privacy=true, Method Category=Descriptor-free (DF), MB used=3552023.06 | 1.43 | 3 | 5 | 1.77 | 4 | 2.95 | 6 | 1.61 | 8 | 1.93 | 8 | 2.09 | 71 | 19.5 | — | — | |
| GoMatchNo Desc. Maint.=true, Privacy=true, Method Category=Descriptor-free (DF), MB used=3552023.06 | 1.65 | 4 | 13 | 3.86 | 9 | 5.17 | 11 | 2.48 | 16 | 3.32 | 13 | 2.84 | 89 | 21.12 | — | — | |
| DFNet (VGG)Method category=APR, Mapping Time=Days2024.04 | 1.88 | 5 | 17 | 6.45 | 6 | 3.63 | 8 | 2.48 | 10 | 2.78 | 22 | 5.45 | 16 | 3.29 | 12 | 3.71 | |
| ASMethod Category=SfM2021.05 | 1.96 | — | — | 1.53 | — | 1.45 | — | 3.61 | — | 3.1 | — | 3.37 | — | 2.22 | — | 2.5 | |
| MapNetMethod category=APR, Mapping Time=Hours2024.04 | 3.25 | 8 | 27 | 11.7 | 18 | 13.3 | 17 | 5.15 | 22 | 4.02 | 23 | 4.93 | 30 | 12.1 | 21 | 7.77 | |
| Direct-PNMethod category=APR, Mapping Time=Days2024.04 | 3.52 | 10 | 27 | 8.66 | 17 | 13.1 | 16 | 5.96 | 19 | 3.85 | 22 | 5.13 | 32 | 10.6 | 20 | 7.26 | |
| PoseNetCategory=APR2026.03 | 4.02 | 10 | 27 | 10 | 18 | 13 | 17 | 5.97 | 19 | 4.67 | 22 | 5.91 | 35 | 10.5 | 21 | 7.74 | |
| geo. PNMethod category=APR, Mapping Time=Hours2024.04 | 4.48 | 13 | 27 | 11.3 | 17 | 13 | 19 | 5.55 | 26 | 4.75 | 23 | 5.35 | 35 | 12.4 | 23 | 8.12 | |
| PN Learn σ²Method category=APR, Mapping Time=Hours2024.04 | 4.5 | 14 | 27 | 11.8 | 18 | 12.1 | 20 | 5.77 | 25 | 4.82 | 24 | 5.52 | 37 | 10.6 | 24 | 7.87 | |
| MS-Trans.No Desc. Maint.=true, Privacy=true, Method Category=End-to-end (E2E), MB used=712023.06 | 4.66 | 11 | 24 | 9.6 | 14 | 12.19 | 17 | 5.66 | 18 | 4.44 | 17 | 5.94 | 26 | 8.45 | — | — | |
| MS-TransformerMethod category=APR, Mapping Time=Hours2024.04 | 4.66 | 11 | 24 | 9.6 | 14 | 12.2 | 17 | 5.66 | 18 | 4.44 | 17 | 5.94 | 17 | 5.94 | 18 | 7.28 | |
| BranchNetMethod category=APR, Mapping Time=Hours2024.04 | 5.17 | 18 | 34 | 8.99 | 20 | 14.2 | 30 | 7.05 | 27 | 5.1 | 33 | 7.4 | 38 | 10.3 | 29 | 8.3 | |
| LSTM PNMethod category=APR, Mapping Time=Hours2024.04 | 5.77 | 24 | 34 | 11.9 | 21 | 13.7 | 30 | 8.08 | 33 | 7 | 37 | 8.83 | 40 | 13.7 | 31 | 9.85 | |
| Hourglass PNMethod category=APR, Mapping Time=Hours2024.04 | 6.17 | 15 | 27 | 10.8 | 19 | 11.6 | 21 | 8.48 | 25 | 7.01 | 27 | 10.2 | 29 | 12.5 | 23 | 9.53 | |
| PoseNet(PN)Method category=APR, Mapping Time=Hours2024.04 | 8.12 | 32 | 47 | 14.4 | 29 | 12 | 48 | 7.68 | 47 | 8.42 | 59 | 8.64 | 47 | 13.8 | 44 | 10.4 |