Visual Localization on Aachen Day-Night v1.1 (test)
74.3Success Rate (0.25m, 2°)SCFeat
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| SCFeatNMS size (ref/query)=5x5 / 3x3, Score threshold (ref/query)=1.0 / 0.5, Max keypoints=20k2022.12 | 74.3 | 89 | 98.4 | — | — | — | — | — | — | |
| SCFeatNumber of keypoints=20K, NMS size N (ref/query)=5x5 / 3x3, score threshold (ref/query)=1.0 / 0.52022.12 | 74.3 | 89 | 98.4 | — | — | — | — | — | — | |
| PoSFeat2022.12 | 73.8 | 87.4 | 98.4 | — | — | — | — | — | — | |
| PoSFeatNumber of keypoints=20K2022.12 | 73.8 | 87.4 | 98.4 | — | — | — | — | — | — | |
| LISRD + SuperPoint + AdaLAM2022.12 | 73.3 | 86.9 | 97.9 | — | — | — | — | — | — | |
| CNDesc + SuperPoint2022.12 | 73.3 | 86.9 | 96.9 | — | — | — | — | — | — | |
| SuperPoint + SuperGlue2022.12 | 73.3 | 88 | 98.4 | — | — | — | — | — | — | |
| SCFeatNMS size (ref/query)=1x1 / 1x1, Score threshold (ref/query)=1.0 / 1.0, Max keypoints=20k2022.12 | 73.3 | 88 | 98.4 | — | — | — | — | — | — | |
| SCFeatNMS size (ref/query)=3x3 / 3x3, Score threshold (ref/query)=0.3 / 0.3, Max keypoints=20k2022.12 | 73.3 | 86.4 | 98.4 | — | — | — | — | — | — | |
| SCFeatNMS size (ref/query)=3x3 / 3x3, Score threshold (ref/query)=0.5 / 0.5, Max keypoints=20k2022.12 | 73.3 | 88.5 | 98.4 | — | — | — | — | — | — | |
| LISRD + SuperPoint + AdaLAMNumber of keypoints=20K2022.12 | 73.3 | 86.9 | 97.9 | — | — | — | — | — | — | |
| CNDesc + SuperPointNumber of keypoints=20K2022.12 | 73.3 | 86.9 | 96.9 | — | — | — | — | — | — | |
| SuperPoint + SuperGlueNumber of keypoints=20K2022.12 | 73.3 | 88 | 98.4 | — | — | — | — | — | — | |
| ASLFeat-20KMax keypoints=20k2022.12 | 72.3 | 86.4 | 97.9 | — | — | — | — | — | — | |
| SuperPoint + SGMNet2022.12 | 72.3 | 85.3 | 97.9 | — | — | — | — | — | — | |
| Patch2Pix + HLOC2022.12 | 72.3 | 88.5 | 97.9 | — | — | — | — | — | — | |
| SCFeatNMS size (ref/query)=5x5 / 3x3, Score threshold (ref/query)=0.5 / 0.5, Max keypoints=20k2022.12 | 72.3 | 88.5 | 98.4 | — | — | — | — | — | — | |
| ASLFeatNumber of keypoints=20K2022.12 | 72.3 | 86.4 | 97.9 | — | — | — | — | — | — | |
| SuperPoint + SGMNetNumber of keypoints=20K2022.12 | 72.3 | 85.3 | 97.9 | — | — | — | — | — | — | |
| Patch2Pix + HLOCNumber of keypoints=20K2022.12 | 72.3 | 88.5 | 97.9 | — | — | — | — | — | — | |
| R2D2-40KMax keypoints=40k2022.12 | 71.2 | 86.9 | 97.9 | — | — | — | — | — | — | |
| DualRC-Net2022.12 | 71.2 | 86.9 | 97.9 | — | — | — | — | — | — | |
| R2D2Number of keypoints=40K2022.12 | 71.2 | 86.9 | 97.9 | — | — | — | — | — | — | |
| DualRC-NetNumber of keypoints=20K2022.12 | 71.2 | 86.9 | 97.9 | — | — | — | — | — | — | |
| AdaLAM2023.04 | — | — | — | — | — | — | 73.3 | 86.9 | 97.9 | |
| EIMPFeature=SuperPoint [18]2023.04 | — | — | — | 90 | 96.5 | 99 | 77 | 91.6 | 99.5 | |
| IMPFeature=SuperPoint [18]2023.04 | — | — | — | 89.1 | 95.4 | 99 | 75.9 | 92.7 | 99.5 | |
| MNN2023.04 | — | — | — | 87.9 | 93.6 | 96.8 | 70.2 | 84.8 | 93.7 | |
| SGMNetFeature=SuperPoint [18]2023.04 | — | — | — | 88.7 | 96.2 | 98.9 | 75.9 | 89 | 99 | |
| SuperGlue*Feature=SuperPoint [18]2023.04 | — | — | — | 89.8 | 96.6 | 99.4 | 75.9 | 90.1 | 100 |