Visual Localization on Aachen Day-Night v1.1 (Day)
90.8SR (0.25m, 2°)HOW
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| HOWpipeline=Kapture, local_descriptors=R2D2, top_k_retrieved=502022.01 | 90.8 | 96.2 | 99.6 | |
| FIRepipeline=Kapture, local_descriptors=R2D2, top_k_retrieved=502022.01 | 90.7 | 96.5 | 99.5 | |
| SAMFeatGroup=G2026.04 | 90.2 | 96 | 98.5 | |
| GESSGroup=G2026.04 | 89.9 | 96.1 | 98.9 | |
| SuperPoint+SuperGlueMatcher=SuperGlue2022.11 | 89.6 | 96.4 | 99.3 | |
| Ours-M64Model Type=Compact2026.01 | 89.4 | 95.3 | 98.2 | |
| Ours-U128Model Type=Standard2026.01 | 89.4 | 95.8 | 98.8 | |
| ImLocMatcher=RoMa2026.01 | 89.3 | 96.1 | 99.3 | |
| AWDesc-T16Model Type=Standard2026.01 | 89.2 | 95.1 | 98.4 | |
| ALIKED-T16Model Type=Compact2026.01 | 89.1 | 95 | 98.2 | |
| Ours-N64Model Type=Compact2026.01 | 89.1 | 95 | 98.2 | |
| Ours-E128Model Type=Standard2026.01 | 89 | 95.6 | 98.7 | |
| AP-GeMpipeline=Kapture, local_descriptors=R2D2, top_k_retrieved=502022.01 | 88.8 | 96.6 | 99.6 | |
| Ours-S64Model Type=Compact2026.01 | 88.8 | 94.8 | 98.4 | |
| ALIKED-N16Model Type=Standard2026.01 | 88.8 | 96.1 | 98.8 | |
| Ours-G128Model Type=Standard2026.01 | 88.8 | 95.6 | 98.7 | |
| R2D2Group=G2026.04 | 88.8 | 95.3 | 97.8 | |
| SOSNetDescriptor=SOSNet2022.11 | 88.7 | 94.7 | 98.7 | |
| Ours-T64Model Type=Compact2026.01 | 88.7 | 94.8 | 98.3 | |
| AWDesc-CAModel Type=Standard2026.01 | 88.5 | 95.4 | 98.4 | |
| SuperPoint+Boost-FDescriptor=SuperPoint, Boosting=FeatureBooster (Float)2022.11 | 88.3 | 94.4 | 98.7 | |
| Ours-L64Model Type=Compact2026.01 | 88.3 | 95 | 98.3 | |
| SuperPointModel Type=Standard2026.01 | 88.3 | 94.4 | 98.1 | |
| LBRGroup=V2026.04 | 88.3 | 95.6 | 98.8 | |
| AWDesc-T32Model Type=Standard2026.01 | 88.2 | 95.9 | 98.4 | |
| GeneralPrunerTraining Environment=Outdoor-trained, Evaluation Pipeline=HLoc, Matching Protocol=SIFT + MNN2024.06 | 88.2 | 95.4 | 98.9 | |
| SFD2Group=V2026.04 | 88.2 | 96 | 98.7 | |
| HlocMatcher=SP+SG2026.01 | 88.1 | 95.4 | 98.9 | |
| Hloc (SP+LG)Retrieval=EigenPlaces top-20, Matching pipeline=Hloc, Features=SuperPoint, Matcher=LightGlue2026.04 | 88.1 | 95.4 | 99 | |
| DeDoDe-GModel Type=Standard2026.01 | 88 | 95.4 | 98.5 | |
| ASLFeatGroup=G2026.04 | 88 | 95.4 | 98.2 | |
| SuperPointDescriptor=SuperPoint2022.11 | 87.9 | 94.3 | 98.2 | |
| SuperPointGroup=G2026.04 | 87.9 | 93.6 | 96.8 | |
| OANetTraining Environment=Outdoor-trained, Evaluation Pipeline=HLoc, Matching Protocol=SIFT + MNN2024.06 | 87.7 | 94.8 | 98.1 | |
| SIFT+Boost-BDescriptor=SIFT, Boosting=FeatureBooster (Binary)2022.11 | 87.5 | 94.5 | 98.1 | |
| SuperPoint+Boost-BDescriptor=SuperPoint, Boosting=FeatureBooster (Binary)2022.11 | 87.4 | 94.1 | 97.9 | |
| ALIKEDescriptor=ALIKE2022.11 | 87.3 | 93.2 | 98.7 | |
| DISKModel Type=Standard2026.01 | 87.3 | 95.5 | 98.5 | |
| ConvMatchTraining Environment=Outdoor-trained, Evaluation Pipeline=HLoc, Matching Protocol=SIFT + MNN2024.06 | 87.3 | 93.8 | 97.5 | |
| SIFTDescriptor=SIFT2022.11 | 87.1 | 93.8 | 98.1 | |
| SIFT+Boost-FDescriptor=SIFT, Boosting=FeatureBooster (Float)2022.11 | 87.1 | 94.5 | 98.1 | |
| EdgePoint2-M64Model Type=Compact2026.01 | 87.1 | 94.7 | 98.2 | |
| HlocMatcher=SP+LG2026.01 | 87 | 94.8 | 98.5 | |
| ALIKE+Boost-BDescriptor=ALIKE, Boosting=FeatureBooster (Binary)2022.11 | 86.9 | 93.8 | 98.3 | |
| EdgePointModel Type=Compact2026.01 | 86.9 | 93.2 | 97.6 | |
| EdgePoint2-E64Model Type=Compact2026.01 | 86.9 | 95 | 98.3 | |
| Ours-A48Model Type=Compact2026.01 | 86.9 | 94.5 | 97.7 | |
| RootSIFTDescriptor=RootSIFT2022.11 | 86.8 | 94.1 | 98.4 | |
| EdgePoint2-T48Model Type=Compact2026.01 | 86.8 | 94.1 | 98.1 | |
| ALIKE+Boost-FDescriptor=ALIKE, Boosting=FeatureBooster (Float)2022.11 | 86.7 | 94.2 | 99 | |
| CLNetTraining Environment=Outdoor-trained, Evaluation Pipeline=HLoc, Matching Protocol=SIFT + MNN2024.06 | 86.7 | 94.1 | 98.1 | |
| NCMNetTraining Environment=Outdoor-trained, Evaluation Pipeline=HLoc, Matching Protocol=SIFT + MNN2024.06 | 86.7 | 94.1 | 98.4 | |
| DeDoDe-BModel Type=Standard2026.01 | 86.5 | 95 | 98.2 | |
| ALIKED-N32Model Type=Standard2026.01 | 86.4 | 95.3 | 98.3 | |
| XFeatModel Type=Compact2026.01 | 86 | 93.9 | 97.6 | |
| NoPrunerTraining Environment=Outdoor-trained, Evaluation Pipeline=HLoc, Matching Protocol=SIFT + MNN2024.06 | 85.4 | 91.1 | 94.5 | |
| easy-anon - singleRetrieval=EigenPlaces top-20, Matching pipeline=RoMa, Obfuscation=easy-anon2026.04 | 85.2 | 93.1 | 98.1 | |
| original imagesRetrieval=EigenPlaces top-20, Matching pipeline=RoMa, Obfuscation=None2026.04 | 84.7 | 93.3 | 98.2 | |
| MeshLocMatcher=SP+LG2026.01 | 84.2 | 92.5 | 98.5 | |
| D2-NetGroup=G2026.04 | 84.1 | 91 | 95.5 | |
| Local tri.Matcher=RoMa2026.01 | 84 | 92.8 | 97.9 | |
| Local tri.Matcher=SP+LG2026.01 | 83.5 | 91.4 | 97.8 | |
| ORB-Boost-BDescriptor=ORB, Boosting=FeatureBooster (Binary)2022.11 | 83.1 | 89.8 | 94.7 | |
| ORBDescriptor=ORB2022.11 | 80.6 | 87.9 | 93.6 | |
| E5+1Matcher=RoMa2026.01 | 78.4 | 89.8 | 97.8 | |
| LazyLocMatcher=SP+LG2026.01 | 76.8 | 87.7 | 94.2 | |
| E5+1Matcher=SP+LG2026.01 | 76.6 | 88.3 | 97.5 | |
| LDP-FEATRetrieval=EigenPlaces top-20, Obfuscation=LDP-FEAT2026.04 | 76.1 | 85 | 90.4 | |
| SAM1 - fine bordersRetrieval=EigenPlaces top-20, Matching pipeline=RoMa, Obfuscation=SAM1 - fine borders2026.04 | 74 | 84.5 | 93.9 | |
| SIFTGroup=G2026.04 | 72.2 | 78.4 | 81.7 |