Visual Localization on Cambridge Landmarks Great Court

0.29Median Pose Error (m)original images

Evaluation results

Method
original images2026.04	0.29	0.13	43.2
easy-anon - inpaint2026.04	0.29	0.13	43.4
original images2026.04	0.29	0.13	43.7
easy-anon - single2026.04	0.29	0.13	43.3
easy-anon - inpaint2026.04	0.29	0.13	42.8
easy-anon - single2026.04	0.3	0.13	43
SAM1 - fine borders2026.04	0.35	0.16	37.1
SAM1 - fine borders2026.04	0.35	0.15	36.8
SAM1 - coarse borders2026.04	0.37	0.18	34.7
SAM2 - fine borders2026.04	0.38	0.17	35.1
SAM2 - fine borders2026.04	0.38	0.17	35.3
SAM1 - coarse borders2026.04	0.38	0.2	34.6
SAM1 - fine masks2026.04	0.39	0.19	32.9
blur - 41 px2026.04	0.39	0.23	33
SAM1 - fine masks2026.04	0.4	0.19	33.6
blur - 41 px2026.04	0.41	0.24	32.6
SAM1 - coarse masks2026.04	0.41	0.21	30.8
Mask2Former - semantic2026.04	0.41	0.21	28.8
Canny2026.04	0.41	0.2	32
SAM1 - coarse masks2026.04	0.41	0.22	30.7
Mask2Former - semantic2026.04	0.41	0.21	27.2
Canny2026.04	0.42	0.21	30.9
SAM2 - fine masks2026.04	0.42	0.2	30.5
SAM2 - fine masks2026.04	0.44	0.21	30.3
Mask2Former - borders2026.04	0.45	0.21	26.8
Mask2Former - borders2026.04	0.45	0.22	26.2
SAM2 - coarse masks2026.04	0.5	0.26	24.1
Metric3D → Canny2026.04	0.51	0.26	23.4
SAM2 - coarse borders2026.04	0.51	0.25	24.9
Metric3D → Canny2026.04	0.51	0.28	25.4
SAM2 - coarse borders2026.04	0.51	0.26	24.7
SAM2 - coarse masks2026.04	0.52	0.27	23
DiffusionEdge2026.04	0.6	0.33	21.6
DiffusionEdge2026.04	0.61	0.32	23.9
pixelization - 10x2026.04	0.62	0.4	20.8
Mask2Former - random2026.04	0.63	0.32	17.9
Mask2Former - random2026.04	0.64	0.34	18.9
pixelization - 10x2026.04	0.65	0.39	22.5
blur - 81 px2026.04	1.12	0.94	7.4
blur - 81 px2026.04	1.2	1.01	6.7
pixelization - 20x2026.04	6.61	5.43	2
pixelization - 20x2026.04	6.82	5.59	1.1