Visual Localization on Aachen Day
95.4Localization Accuracy (0.5m, 5°)SuperPoint + LightGlue
Evaluation results
| Method | Links | ||
|---|---|---|---|
| SuperPoint + LightGlueAsym?=✗, Backbone=Reference Model2026.04 | 95.4 | 98.3 | |
| LoFTRAsym?=✗, Backbone=Reference Model2026.04 | 94.4 | 97.7 | |
| SiLK (Teacher)Asym?=✗, Backbone=Oracle Teacher Performance, Teacher Architecture=SiLK2026.04 | 87.2 | 91.5 | |
| SuperPoint (Teacher)Asym?=✗, Backbone=Oracle Teacher Performance, Teacher Architecture=SuperPoint2026.04 | 86.8 | 90 | |
| AsymLocAsym?=✓, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 83.3 | 87.8 | |
| AsymLocAsym?=✓, Backbone=0.08M, Teacher Architecture=SiLK2026.04 | 82.1 | 86 | |
| D3stillAsym?=✓, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 81.5 | 86 | |
| CSDAsym?=✓, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 81.2 | 85.6 | |
| RKDAsym?=✓, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 81 | 85.3 | |
| AsymLocAsym?=✓, Backbone=0.08M, Teacher Architecture=SuperPoint2026.04 | 80.7 | 84.5 | |
| AMLAsym?=✓, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 80.6 | 85.5 | |
| AsymLocAsym?=✓, Backbone=0.06M, Teacher Architecture=SiLK2026.04 | 80.6 | 85.1 | |
| StandardAsym?=✗, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 80.2 | 85.2 | |
| AsymLocAsym?=✓, Backbone=0.04M, Teacher Architecture=SiLK2026.04 | 80.1 | 84.8 | |
| Naive distillation (Symm)Asym?=✗, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 80 | 85.1 | |
| Naive distillation (Asym)Asym?=✓, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 80 | 85.1 | |
| StandardAsym?=✗, Backbone=0.08M, Teacher Architecture=SiLK2026.04 | 79.1 | 83.2 | |
| StandardAsym?=✗, Backbone=0.08M, Teacher Architecture=SuperPoint2026.04 | 78.5 | 82.1 | |
| AsymLocAsym?=✓, Backbone=0.06M, Teacher Architecture=SuperPoint2026.04 | 77.9 | 83 | |
| StandardAsym?=✗, Backbone=0.06M, Teacher Architecture=SiLK2026.04 | 75 | 80.5 | |
| StandardAsym?=✗, Backbone=0.06M, Teacher Architecture=SuperPoint2026.04 | 73.9 | 78.2 | |
| StandardAsym?=✗, Backbone=0.04M, Teacher Architecture=SiLK2026.04 | 73.7 | 78 |