# Visual Localization on Aachen Day v1.1

Source: [Visual Localization on Aachen Day v1.1](<https://www.sota2.com/research/sota/visual-localization-on-aachen-day-v1-1>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-27T09:09:36.640Z

Evaluation of Visual Localization performance on the Aachen Day v1.1 dataset, measured using recall at positional and angular error thresholds: (0.25m, 2°), (0.5m, 5°), and (5m, 10°).

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Visual Localization |
| Dataset (including any stated split) | Aachen Day v1.1 |
| Metric | Recall @ (0.25m, 2°) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 8 of 8 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Recall @ (0.25m, 2°)](<https://www.sota2.com/research/sota/visual-localization-on-aachen-day-v1-1.md?metric=Recall%20%40%20(0.25m%2C%202%C2%B0)>): Higher is better; unit: PERCENT.

- [Recall @ (0.5m, 5°)](<https://www.sota2.com/research/sota/visual-localization-on-aachen-day-v1-1.md?metric=Recall%20%40%20(0.5m%2C%205%C2%B0)>): Higher is better; unit: PERCENT.

- [Recall @ (5m, 10°)](<https://www.sota2.com/research/sota/visual-localization-on-aachen-day-v1-1.md?metric=Recall%20%40%20(5m%2C%2010%C2%B0)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Recall @ (0.25m, 2°) | Result date | Report paper |
| --- | --- | --- | --- |
| hloc + MCLoc refine | 87.9 | Not recorded | 68fa72f31e209131cea597c7 |
| hloc | 87.4 | Not recorded | 68fa72f31e209131cea597c7 |
| hloc + PixLoc refine | 86.2 | Not recorded | 68fa72f31e209131cea597c7 |
| AS | 85.3 | Not recorded | 68fa72f31e209131cea597c7 |
| PixLoc | 63.2 | Not recorded | 68fa72f31e209131cea597c7 |
| MCLoc | 55.8 | Not recorded | 68fa72f31e209131cea597c7 |
| NetVLAD | 0 | Not recorded | 68fa72f31e209131cea597c7 |
| CosPlace | 0 | Not recorded | 68fa72f31e209131cea597c7 |

### hloc + MCLoc refine

Recall @ (0.25m, 2°): 87.9. Result ID: 69a15f4b35dfcabb00e69c99.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72f31e209131cea597c7.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72f31e209131cea597c7.md>)

[Implementation](<https://github.com/ga1i13o/mcloc_poseref>)

Recorded evaluation configuration: {"Method Category":"Matching based","Refinement":"MCLoc"}. This record does not assert independent reproduction.

### hloc

Recall @ (0.25m, 2°): 87.4. Result ID: 69a15f4b35dfcabb00e69c97.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72f31e209131cea597c7.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65a51e209131cea0b8dc.md>)

[Implementation](<https://github.com/ethz-asl/hf_net>)

Recorded evaluation configuration: {"Method Category":"Matching based","Refinement":"None"}. This record does not assert independent reproduction.

### hloc + PixLoc refine

Recall @ (0.25m, 2°): 86.2. Result ID: 69a15f4b35dfcabb00e69c98.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72f31e209131cea597c7.md>)

Recorded evaluation configuration: {"Method Category":"Matching based","Refinement":"PixLoc"}. This record does not assert independent reproduction.

### AS

Recall @ (0.25m, 2°): 85.3. Result ID: 69a15f4b35dfcabb00e69c96.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72f31e209131cea597c7.md>)

Recorded evaluation configuration: {"Method Category":"Matching based"}. This record does not assert independent reproduction.

### PixLoc

Recall @ (0.25m, 2°): 63.2. Result ID: 69a15f4b35dfcabb00e69c94.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72f31e209131cea597c7.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69af1e209131cea2364a.md>)

Recorded evaluation configuration: {"Method Category":"Pose Refiners"}. This record does not assert independent reproduction.

### MCLoc

Recall @ (0.25m, 2°): 55.8. Result ID: 69a15f4b35dfcabb00e69c95.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72f31e209131cea597c7.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72f31e209131cea597c7.md>)

[Implementation](<https://github.com/ga1i13o/mcloc_poseref>)

Recorded evaluation configuration: {"Method Category":"Pose Refiners"}. This record does not assert independent reproduction.

### NetVLAD

Recall @ (0.25m, 2°): 0. Result ID: 69a15f4b35dfcabb00e69c92.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72f31e209131cea597c7.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa627d1e209131ce9f98ff.md>)

[Implementation](<http://www.di.ens.fr/willow/research/netvlad/>)

Recorded evaluation configuration: {"Method Category":"Retrieval"}. This record does not assert independent reproduction.

### CosPlace

Recall @ (0.25m, 2°): 0. Result ID: 69a15f4b35dfcabb00e69c93.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72f31e209131cea597c7.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c2e1e209131cea329cd.md>)

[Implementation](<https://github.com/gmberton/CosPlace>)

Recorded evaluation configuration: {"Method Category":"Retrieval"}. This record does not assert independent reproduction.

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