Visual Localization on Aachen Day-Night (day)
89.6Recall @ (0.25m, 2°)hLoc (SP+SG)
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| hLoc (SP+SG)Method Category=Structure-based, Memory requirement=7.82 GB2025.12 | 89.6 | 95.4 | 98.8 | |
| SuperPoint2024.04 | 87.4 | 93.2 | 97 | |
| DeViLocMethod Category=Structure-based, Memory requirement=≈7.82 GB2025.12 | 87.4 | 94.8 | 98.2 | |
| DISK2024.04 | 86.9 | 95.1 | 97.8 | |
| ALIKE2024.04 | 85.7 | 92.4 | 96.7 | |
| AS (SIFT)Method Category=Structure-based, Memory requirement=750 MB2025.12 | 85.3 | 92.2 | 97.9 | |
| SP+SGMethod Type=Descriptor-based reference, Detector=SuperPoint, Time (s)=0.138, Params (M)=12.042026.07 | 85.1 | 91.6 | 96 | |
| XFeat2024.04 | 84.7 | 91.5 | 96.5 | |
| NV+SIFTHierarchical localization=true, Global descriptor=NetVLAD, Local descriptor=SIFT2018.12 | 82.8 | 88.1 | 93.1 | |
| NeumapMethod Category=Learning-based, Memory requirement=1.26 GB2025.12 | 80.8 | 90.9 | 95.6 | |
| ZippyPoint2024.04 | 80.7 | 88.6 | 93.7 | |
| Robust SCRMethod Category=Learning-based, Memory requirement=53 MB2025.12 | 80.1 | 89.8 | 97 | |
| NV+SPHierarchical localization=true, Global descriptor=NetVLAD, Local descriptor=SuperPoint2018.12 | 79.7 | 88 | 93.7 | |
| R-ScoreMethod Category=Learning-based, Memory requirement=47 MB, Variant=DeDoDe with depth supervision2025.12 | 79 | 88.5 | 96.4 | |
| CascadedMethod Category=Structure-based, Memory requirement=140 MB2025.12 | 76.7 | 88.6 | 95.8 | |
| HF-NetHierarchical localization=true2018.12 | 75.7 | 84.3 | 90.9 | |
| SqueezerMethod Category=Structure-based, Memory requirement=240 MB2025.12 | 75.5 | 89.7 | 96.2 | |
| HSCNet++Method Category=Learning-based, Memory requirement=274 MB2025.12 | 72.7 | 81.6 | 91.4 | |
| ORB2024.04 | 66.9 | 76.1 | 81.7 | |
| PixLocMethod Category=Structure-based, Memory requirement=2.13 GB2025.12 | 64.3 | 69.3 | 77.4 | |
| ASHierarchical localization=false2018.12 | 57.3 | 83.7 | 96.6 | |
| CSLHierarchical localization=false2018.12 | 52.3 | 80 | 94.3 | |
| ESAC (×50)Method Category=Learning-based, Memory requirement=1.31 GB2025.12 | 42.6 | 59.6 | 75.5 | |
| GeoMixMethod Type=Descriptor-free, Detector=DISK, Time (s)=0.115, Params (M)=3.502026.07 | 27.8 | 42.5 | 61.4 | |
| GeoMixMethod Type=Descriptor-free, Detector=SuperPoint, Time (s)=0.115, Params (M)=3.502026.07 | 25.6 | 37.4 | 58.1 | |
| A2-GNNMethod Type=Descriptor-free, Detector=DISK, Time (s)=0.108, Params (M)=2.672026.07 | 16.1 | 24.6 | 41.7 | |
| DGC-GNNMethod Type=Descriptor-free, Detector=DISK, Time (s)=0.284, Params (M)=5.652026.07 | 11.7 | 20.6 | 38.5 | |
| A2-GNNMethod Type=Descriptor-free, Detector=SuperPoint, Time (s)=0.108, Params (M)=2.672026.07 | 11.2 | 20.3 | 36.9 | |
| GeoMixMethod Type=Descriptor-free, Detector=R2D2, Time (s)=0.115, Params (M)=3.502026.07 | 11 | 18.4 | 33.1 | |
| GLACEMethod Category=Learning-based, Memory requirement=27 MB2025.12 | 8.6 | 20.8 | 64 | |
| DGC-GNNMethod Type=Descriptor-free, Detector=SuperPoint, Time (s)=0.284, Params (M)=5.652026.07 | 8.1 | 13.3 | 31.1 | |
| GeoMixMethod Type=Descriptor-free, Detector=SIFT, Time (s)=0.115, Params (M)=3.502026.07 | 7.9 | 15.9 | 32.6 | |
| ACE (×50)Method Category=Learning-based, Memory requirement=205 MB2025.12 | 6.9 | 17.2 | 50 | |
| A2-GNNMethod Type=Descriptor-free, Detector=R2D2, Time (s)=0.108, Params (M)=2.672026.07 | 6.4 | 11.4 | 19.5 | |
| DGC-GNNMethod Type=Descriptor-free, Detector=R2D2, Time (s)=0.284, Params (M)=5.652026.07 | 4.6 | 8.1 | 16 | |
| GoMatchMethod Type=Descriptor-free, Detector=DISK, Time (s)=0.077, Params (M)=1.322026.07 | 4.2 | 7.9 | 26.3 | |
| A2-GNNMethod Type=Descriptor-free, Detector=SIFT, Time (s)=0.108, Params (M)=2.672026.07 | 3.8 | 7.5 | 16.7 | |
| DGC-GNNMethod Type=Descriptor-free, Detector=SIFT, Time (s)=0.284, Params (M)=5.652026.07 | 2.8 | 6.3 | 15.9 | |
| GoMatchMethod Type=Descriptor-free, Detector=R2D2, Time (s)=0.077, Params (M)=1.322026.07 | 2.3 | 4.2 | 10.2 | |
| GoMatchMethod Type=Descriptor-free, Detector=SuperPoint, Time (s)=0.077, Params (M)=1.322026.07 | 2.2 | 4.7 | 18.4 | |
| GoMatchMethod Type=Descriptor-free, Detector=SIFT, Time (s)=0.077, Params (M)=1.322026.07 | 0.5 | 1.2 | 6.9 | |
| DenseVLADHierarchical localization=false, Global descriptor=DenseVLAD2018.12 | 0 | 0.1 | 22.8 | |
| NetVLADHierarchical localization=false, Global descriptor=NetVLAD2018.12 | 0 | 0.2 | 18.9 |