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ResearchFormerly WizWand

Visual Localization on Aachen Day-Night (day)

89.6Recall @ (0.25m, 2°)hLoc (SP+SG)
-3.58420.60844.868.992Dec 9, 2018Mar 13, 2020Jun 16, 2021Sep 20, 2022Dec 24, 2023Mar 28, 2025Jul 2, 2026
Updated 4mo ago

Evaluation results

MethodLinks
hLoc (SP+SG)Method Category=Structure-based, Memory requirement=7.82 GB2025.1289.695.498.8
SuperPoint2024.0487.493.297
DeViLocMethod Category=Structure-based, Memory requirement=≈7.82 GB2025.1287.494.898.2
DISK2024.0486.995.197.8
ALIKE2024.0485.792.496.7
AS (SIFT)Method Category=Structure-based, Memory requirement=750 MB2025.1285.392.297.9
SP+SGMethod Type=Descriptor-based reference, Detector=SuperPoint, Time (s)=0.138, Params (M)=12.042026.0785.191.696
XFeat2024.0484.791.596.5
NV+SIFTHierarchical localization=true, Global descriptor=NetVLAD, Local descriptor=SIFT2018.1282.888.193.1
NeumapMethod Category=Learning-based, Memory requirement=1.26 GB2025.1280.890.995.6
ZippyPoint2024.0480.788.693.7
Robust SCRMethod Category=Learning-based, Memory requirement=53 MB2025.1280.189.897
NV+SPHierarchical localization=true, Global descriptor=NetVLAD, Local descriptor=SuperPoint2018.1279.78893.7
R-ScoreMethod Category=Learning-based, Memory requirement=47 MB, Variant=DeDoDe with depth supervision2025.127988.596.4
CascadedMethod Category=Structure-based, Memory requirement=140 MB2025.1276.788.695.8
HF-NetHierarchical localization=true2018.1275.784.390.9
SqueezerMethod Category=Structure-based, Memory requirement=240 MB2025.1275.589.796.2
HSCNet++Method Category=Learning-based, Memory requirement=274 MB2025.1272.781.691.4
ORB2024.0466.976.181.7
PixLocMethod Category=Structure-based, Memory requirement=2.13 GB2025.1264.369.377.4
ASHierarchical localization=false2018.1257.383.796.6
CSLHierarchical localization=false2018.1252.38094.3
ESAC (×50)Method Category=Learning-based, Memory requirement=1.31 GB2025.1242.659.675.5
GeoMixMethod Type=Descriptor-free, Detector=DISK, Time (s)=0.115, Params (M)=3.502026.0727.842.561.4
GeoMixMethod Type=Descriptor-free, Detector=SuperPoint, Time (s)=0.115, Params (M)=3.502026.0725.637.458.1
A2-GNNMethod Type=Descriptor-free, Detector=DISK, Time (s)=0.108, Params (M)=2.672026.0716.124.641.7
DGC-GNNMethod Type=Descriptor-free, Detector=DISK, Time (s)=0.284, Params (M)=5.652026.0711.720.638.5
A2-GNNMethod Type=Descriptor-free, Detector=SuperPoint, Time (s)=0.108, Params (M)=2.672026.0711.220.336.9
GeoMixMethod Type=Descriptor-free, Detector=R2D2, Time (s)=0.115, Params (M)=3.502026.071118.433.1
GLACEMethod Category=Learning-based, Memory requirement=27 MB2025.128.620.864
DGC-GNNMethod Type=Descriptor-free, Detector=SuperPoint, Time (s)=0.284, Params (M)=5.652026.078.113.331.1
GeoMixMethod Type=Descriptor-free, Detector=SIFT, Time (s)=0.115, Params (M)=3.502026.077.915.932.6
ACE (×50)Method Category=Learning-based, Memory requirement=205 MB2025.126.917.250
A2-GNNMethod Type=Descriptor-free, Detector=R2D2, Time (s)=0.108, Params (M)=2.672026.076.411.419.5
DGC-GNNMethod Type=Descriptor-free, Detector=R2D2, Time (s)=0.284, Params (M)=5.652026.074.68.116
GoMatchMethod Type=Descriptor-free, Detector=DISK, Time (s)=0.077, Params (M)=1.322026.074.27.926.3
A2-GNNMethod Type=Descriptor-free, Detector=SIFT, Time (s)=0.108, Params (M)=2.672026.073.87.516.7
DGC-GNNMethod Type=Descriptor-free, Detector=SIFT, Time (s)=0.284, Params (M)=5.652026.072.86.315.9
GoMatchMethod Type=Descriptor-free, Detector=R2D2, Time (s)=0.077, Params (M)=1.322026.072.34.210.2
GoMatchMethod Type=Descriptor-free, Detector=SuperPoint, Time (s)=0.077, Params (M)=1.322026.072.24.718.4
GoMatchMethod Type=Descriptor-free, Detector=SIFT, Time (s)=0.077, Params (M)=1.322026.070.51.26.9
DenseVLADHierarchical localization=false, Global descriptor=DenseVLAD2018.1200.122.8
NetVLADHierarchical localization=false, Global descriptor=NetVLAD2018.1200.218.9