Visual Localization on Aachen Night
91.8Localization Accuracy (0.5m, 5°)LoFTR
Evaluation results
| Method | Links | ||
|---|---|---|---|
| LoFTRAsym?=✗, Backbone=Reference Model2026.04 | 91.8 | 98 | |
| SuperPoint + LightGlueAsym?=✗, Backbone=Reference Model2026.04 | 91.8 | 100 | |
| SiLK (Teacher)Asym?=✗, Backbone=Oracle Teacher Performance, Teacher Architecture=SiLK2026.04 | 74.5 | 86.8 | |
| AsymLocAsym?=✓, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 71.2 | 84.4 | |
| CSDAsym?=✓, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 71 | 82.4 | |
| D3stillAsym?=✓, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 71 | 82.4 | |
| AsymLocAsym?=✓, Backbone=0.08M, Teacher Architecture=SiLK2026.04 | 71 | 83.2 | |
| Naive distillation (Asym)Asym?=✓, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 70.1 | 81.4 | |
| AMLAsym?=✓, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 70.1 | 81.4 | |
| RKDAsym?=✓, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 70 | 81.2 | |
| Naive distillation (Symm)Asym?=✗, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 69.9 | 81 | |
| StandardAsym?=✗, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 69.7 | 80 | |
| AsymLocAsym?=✓, Backbone=0.06M, Teacher Architecture=SiLK2026.04 | 69.2 | 82 | |
| AsymLocAsym?=✓, Backbone=0.04M, Teacher Architecture=SiLK2026.04 | 69 | 81.2 | |
| StandardAsym?=✗, Backbone=0.08M, Teacher Architecture=SiLK2026.04 | 67.9 | 78.8 | |
| StandardAsym?=✗, Backbone=0.06M, Teacher Architecture=SiLK2026.04 | 64.5 | 75.4 | |
| StandardAsym?=✗, Backbone=0.04M, Teacher Architecture=SiLK2026.04 | 60 | 73.8 | |
| SuperPoint (Teacher)Asym?=✗, Backbone=Oracle Teacher Performance, Teacher Architecture=SuperPoint2026.04 | 59.2 | 74.5 | |
| AsymLocAsym?=✓, Backbone=0.08M, Teacher Architecture=SuperPoint2026.04 | 56.6 | 72.1 | |
| AsymLocAsym?=✓, Backbone=0.06M, Teacher Architecture=SuperPoint2026.04 | 55.8 | 71.5 | |
| StandardAsym?=✗, Backbone=0.08M, Teacher Architecture=SuperPoint2026.04 | 53 | 70.2 | |
| StandardAsym?=✗, Backbone=0.06M, Teacher Architecture=SuperPoint2026.04 | 51.3 | 68.1 |