Visual Localization on Cambridge Landmarks (Error in m/deg)
0.09Positional Error (m)MASt3R + Kapture
Evaluation results
| Method | Links | ||
|---|---|---|---|
| MASt3R + KaptureTraining Category=Seen, Latency=9.0s2025.10 | 0.09 | 0.2 | |
| hLoc (SP+SG)Training Category=Seen, Latency=∼1.2s, Mapping=~35min2025.10 | 0.11 | 0.2 | |
| AS (SIFT)Training Category=Seen, Latency=0.4s, Mapping=~35min2025.10 | 0.14 | 0.3 | |
| GLACETraining Category=Seen, Latency=0.1s, Mapping=25min2025.10 | 0.14 | 0.3 | |
| E5+1 (ALKD-LG)Training Category=Unseen, Latency=1.1s, Mapping=~30s2025.10 | 0.18 | 0.3 | |
| ACETraining Category=Seen, Latency=0.1s, Mapping=5min2025.10 | 0.26 | 0.4 | |
| FastForwardTraining Category=Unseen, Latency=0.5s, Mapping=~30s2025.10 | 0.27 | 0.4 | |
| Reloc3rTraining Category=Unseen, Latency=0.6s, Mapping=~30s2025.10 | 0.52 | 0.5 | |
| Relpose-GNNTraining Category=Unseen, Latency=N/A, Mapping=~30s2025.10 | 1.37 | 2.3 | |
| Map-freeTraining Category=Unseen, Latency=∼0.2s, Mapping=~30s2025.10 | 3.69 | 4.1 | |
| ExReNetTraining Category=Unseen, Latency=∼0.4s, Mapping=~30s2025.10 | 3.74 | 3.3 | |
| MASt3RTraining Category=Unseen, Latency=9.0s, Mapping=~30s2025.10 | 3.9 | 0.7 |