Visual Localization on Aachen Day-Night v1.1 (Night)
78.5Success Rate (0.25m, 2°)Ours-E128
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Ours-E128Model Type=Standard2026.01 | 78.5 | 90.6 | 99 | |
| Ours-L64Model Type=Compact2026.01 | 78 | 90.6 | 99 | |
| DISKModel Type=Standard2026.01 | 78 | 89 | 99 | |
| ALIKED-T16Model Type=Compact2026.01 | 77.5 | 91.1 | 99 | |
| EdgePoint2-E64Model Type=Compact2026.01 | 77 | 91.6 | 99 | |
| AWDesc-T32Model Type=Standard2026.01 | 77 | 90.1 | 98.4 | |
| Ours-U128Model Type=Standard2026.01 | 76.4 | 91.1 | 99 | |
| EdgePoint2-M64Model Type=Compact2026.01 | 75.9 | 90.1 | 99 | |
| Ours-M64Model Type=Compact2026.01 | 75.9 | 90.1 | 99 | |
| Ours-S64Model Type=Compact2026.01 | 75.4 | 90.1 | 99 | |
| AWDesc-T16Model Type=Standard2026.01 | 75.4 | 88 | 96.9 | |
| Ours-G128Model Type=Standard2026.01 | 75.4 | 90.1 | 99 | |
| EdgePoint2-T48Model Type=Compact2026.01 | 74.9 | 87.4 | 97.9 | |
| ALIKED-N32Model Type=Standard2026.01 | 74.9 | 90.1 | 99.5 | |
| AWDesc-CAModel Type=Standard2026.01 | 74.9 | 91.1 | 99 | |
| DeDoDe-BModel Type=Standard2026.01 | 74.9 | 89 | 99.5 | |
| FIRepipeline=Kapture, local_descriptors=R2D2, top_k_retrieved=502022.01 | 74.3 | 90.1 | 98.4 | |
| ImLocMatcher=RoMa2026.01 | 74.3 | 91.6 | 99 | |
| Ours-N64Model Type=Compact2026.01 | 74.3 | 88.5 | 99 | |
| ALIKED-N16Model Type=Standard2026.01 | 74.3 | 89.5 | 99 | |
| DeDoDe-GModel Type=Standard2026.01 | 74.3 | 90.6 | 99.5 | |
| hloc + MCLoc refineMethod Category=Matching based, Refinement=MCLoc2024.04 | 73.8 | 88.5 | 97.9 | |
| SuperPoint+SuperGlueMatcher=SuperGlue2022.11 | 73.3 | 90.6 | 100 | |
| HlocMatcher=SP+SG2026.01 | 73.3 | 87.4 | 97.9 | |
| HOWpipeline=Kapture, local_descriptors=R2D2, top_k_retrieved=502022.01 | 72.8 | 90.1 | 97.9 | |
| ALIKE+Boost-FDescriptor=ALIKE, Boosting=FeatureBooster (Float)2022.11 | 72.8 | 86.9 | 98.4 | |
| Ours-A48Model Type=Compact2026.01 | 72.8 | 85.3 | 95.8 | |
| Ours-T64Model Type=Compact2026.01 | 72.8 | 90.1 | 99 | |
| AP-GeMpipeline=Kapture, local_descriptors=R2D2, top_k_retrieved=502022.01 | 72.3 | 86.9 | 97.9 | |
| ALIKE+Boost-BDescriptor=ALIKE, Boosting=FeatureBooster (Binary)2022.11 | 71.7 | 86.4 | 96.9 | |
| hlocMethod Category=Matching based, Refinement=None2024.04 | 71.7 | 88.5 | 97.9 | |
| Hloc (SP+LG)Retrieval=EigenPlaces top-20, Matching pipeline=Hloc, Features=SuperPoint, Matcher=LightGlue2026.04 | 71.7 | 89 | 97.9 | |
| hloc + PixLoc refineMethod Category=Matching based, Refinement=PixLoc2024.04 | 70.8 | 88.5 | 97.9 | |
| XFeatModel Type=Compact2026.01 | 70.7 | 85.9 | 97.9 | |
| SuperPoint+Boost-FDescriptor=SuperPoint, Boosting=FeatureBooster (Float)2022.11 | 70.2 | 85.9 | 97.9 | |
| HlocMatcher=SP+LG2026.01 | 70.2 | 87.4 | 97.4 | |
| MeshLocMatcher=SP+LG2026.01 | 70.2 | 85.9 | 96.9 | |
| SuperPointModel Type=Standard2026.01 | 69.1 | 85.9 | 95.8 | |
| SuperPoint+Boost-BDescriptor=SuperPoint, Boosting=FeatureBooster (Binary)2022.11 | 68.6 | 84.8 | 96.3 | |
| Local tri.Matcher=RoMa2026.01 | 68.6 | 85.3 | 97.9 | |
| ALIKEDescriptor=ALIKE2022.11 | 67.5 | 85.3 | 97.9 | |
| original imagesRetrieval=EigenPlaces top-20, Matching pipeline=RoMa, Obfuscation=None2026.04 | 67.5 | 88.5 | 98.4 | |
| SuperPointDescriptor=SuperPoint2022.11 | 67 | 84.8 | 95.8 | |
| easy-anon - singleRetrieval=EigenPlaces top-20, Matching pipeline=RoMa, Obfuscation=easy-anon2026.04 | 67 | 86.9 | 98.4 | |
| Local tri.Matcher=SP+LG2026.01 | 66.5 | 84.3 | 96.3 | |
| GeneralPrunerTraining Environment=Outdoor-trained, Evaluation Pipeline=HLoc, Matching Protocol=SIFT + MNN2024.06 | 66.5 | 82.7 | 94.2 | |
| EdgePointModel Type=Compact2026.01 | 66 | 85.9 | 95.3 | |
| E5+1Matcher=RoMa2026.01 | 65.4 | 84.8 | 97.9 | |
| SIFT+Boost-BDescriptor=SIFT, Boosting=FeatureBooster (Binary)2022.11 | 63.9 | 77.5 | 91.1 | |
| SIFT+Boost-FDescriptor=SIFT, Boosting=FeatureBooster (Float)2022.11 | 62.3 | 78 | 92.1 | |
| E5+1Matcher=SP+LG2026.01 | 61.3 | 85.9 | 96.9 | |
| CLNetTraining Environment=Outdoor-trained, Evaluation Pipeline=HLoc, Matching Protocol=SIFT + MNN2024.06 | 61.3 | 78 | 89 | |
| NCMNetTraining Environment=Outdoor-trained, Evaluation Pipeline=HLoc, Matching Protocol=SIFT + MNN2024.06 | 61.3 | 77.5 | 90.1 | |
| SAM1 - fine bordersRetrieval=EigenPlaces top-20, Matching pipeline=RoMa, Obfuscation=SAM1 - fine borders2026.04 | 60.2 | 81.7 | 95.8 | |
| OANetTraining Environment=Outdoor-trained, Evaluation Pipeline=HLoc, Matching Protocol=SIFT + MNN2024.06 | 58.6 | 69.1 | 83.8 | |
| SOSNetDescriptor=SOSNet2022.11 | 58.1 | 78.5 | 92.7 | |
| LazyLocMatcher=SP+LG2026.01 | 58.1 | 84.3 | 94.2 | |
| RootSIFTDescriptor=RootSIFT2022.11 | 57.1 | 76.4 | 88.5 | |
| ConvMatchTraining Environment=Outdoor-trained, Evaluation Pipeline=HLoc, Matching Protocol=SIFT + MNN2024.06 | 51.8 | 60.2 | 73.3 | |
| SIFTDescriptor=SIFT2022.11 | 50.8 | 70.2 | 81.2 | |
| ORB-Boost-BDescriptor=ORB, Boosting=FeatureBooster (Binary)2022.11 | 49.2 | 61.8 | 73.3 | |
| MCLocMethod Category=Pose Refiners2024.04 | 42.4 | 66.5 | 86.9 | |
| ASMethod Category=Matching based2024.04 | 39.8 | 49 | 64.3 | |
| PixLocMethod Category=Pose Refiners2024.04 | 38.7 | 47.1 | 60.7 | |
| NoPrunerTraining Environment=Outdoor-trained, Evaluation Pipeline=HLoc, Matching Protocol=SIFT + MNN2024.06 | 35.6 | 42.4 | 55 | |
| ORBDescriptor=ORB2022.11 | 31.9 | 37.2 | 49.2 | |
| LDP-FEATRetrieval=EigenPlaces top-20, Obfuscation=LDP-FEAT2026.04 | 24.6 | 29.8 | 34 | |
| NetVLADMethod Category=Retrieval2024.04 | 0 | 0 | 14.3 | |
| CosPlaceMethod Category=Retrieval2024.04 | 0 | 0 | 24.1 |