# Visual Localization on Cambridge Landmarks Hospital

Source: [Visual Localization on Cambridge Landmarks Hospital](<https://www.sota2.com/research/sota/visual-localization-on-cambridge-landmarks-hospital>)

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

Data updated: 2026-04-08T07:25:34.887Z

Evaluation of Visual Localization performance specifically on the Hospital scene subset of the Cambridge Landmarks dataset, reporting median positional and angular errors.

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) | Cambridge Landmarks Hospital |
| Metric | Median Translation Error (m) |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 26 of 26 |
| 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

- [Median Translation Error (m)](<https://www.sota2.com/research/sota/visual-localization-on-cambridge-landmarks-hospital.md?metric=Median%20Translation%20Error%20(m)>): Lower is better; unit: SCALAR.

- [Median Rotation Error (deg)](<https://www.sota2.com/research/sota/visual-localization-on-cambridge-landmarks-hospital.md?metric=Median%20Rotation%20Error%20(deg)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | Median Translation Error (m) | Result date | Report paper |
| --- | --- | --- | --- |
| hloc | 0.15 | Not recorded | 68fa72f31e209131cea597c7 |
| hLoc (SP+SG) | 0.15 | Not recorded | 68fa7bc51e209131cea8a540 |
| MASt3R + Kapture | 0.15 | Not recorded | 68fa7bc51e209131cea8a540 |
| PixLoc | 0.16 | Not recorded | 68fa72f31e209131cea597c7 |
| GLACE | 0.17 | Not recorded | 68fa7bc51e209131cea8a540 |
| HACNet | 0.19 | Not recorded | 68fa72f31e209131cea597c7 |
| AS | 0.2 | Not recorded | 68fa72f31e209131cea597c7 |
| AS (SIFT) | 0.2 | Not recorded | 68fa7bc51e209131cea8a540 |
| DSAC\* | 0.21 | Not recorded | 68fa72f31e209131cea597c7 |
| FastForward | 0.26 | Not recorded | 68fa7bc51e209131cea8a540 |
| ACE | 0.3 | Not recorded | 68fa7bc51e209131cea8a540 |
| E5+1 (ALKD-LG) | 0.3 | Not recorded | 68fa7bc51e209131cea8a540 |
| MCLoc | 0.39 | Not recorded | 68fa72f31e209131cea597c7 |
| CROSSFIRE | 0.43 | Not recorded | 68fa72f31e209131cea597c7 |
| LENS | 0.44 | Not recorded | 68fa72f31e209131cea597c7 |
| FQN | 0.54 | Not recorded | 68fa72f31e209131cea597c7 |
| NeFeS (DFNet) | 0.55 | Not recorded | 68fa72f31e209131cea597c7 |
| Reloc3r | 0.73 | Not recorded | 68fa7bc51e209131cea8a540 |
| Relpose-GNN | 1.14 | Not recorded | 68fa7bc51e209131cea8a540 |
| MS-Transformer | 1.81 | Not recorded | 68fa72f31e209131cea597c7 |
| DFNet | 2 | Not recorded | 68fa72f31e209131cea597c7 |
| ExReNet | 3.54 | Not recorded | 68fa7bc51e209131cea8a540 |
| Map-free | 3.73 | Not recorded | 68fa7bc51e209131cea8a540 |
| DenseVLAD | 4 | Not recorded | 68fa72f31e209131cea597c7 |
| CosPlace | 4.5 | Not recorded | 68fa72f31e209131cea597c7 |
| MASt3R | 4.71 | Not recorded | 68fa7bc51e209131cea8a540 |

### hloc

Median Translation Error (m): 0.15. Result ID: 69a15f4b35dfcabb00e69cc5.

[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":"SOTA","Training Protocol":"TL"}. This record does not assert independent reproduction.

### hLoc (SP+SG)

Median Translation Error (m): 0.15. Result ID: 69d602e747f34ce924be2da8.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a540.md>)

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

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

Recorded evaluation configuration: {"Training Category":"Seen","Latency":"∼1.2s","Mapping":"~35min"}. This record does not assert independent reproduction.

### MASt3R + Kapture

Median Translation Error (m): 0.15. Result ID: 69d602e747f34ce924be2da9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a540.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa73ad1e209131cea5ddd2.md>)

Recorded evaluation configuration: {"Training Category":"Seen","Latency":"9.0s"}. This record does not assert independent reproduction.

### PixLoc

Median Translation Error (m): 0.16. Result ID: 69a15f4b35dfcabb00e69cc8.

[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":"SOTA","Training Protocol":"TL"}. This record does not assert independent reproduction.

### GLACE

Median Translation Error (m): 0.17. Result ID: 69d602e747f34ce924be2dab.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a540.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa738e1e209131cea5d315.md>)

Recorded evaluation configuration: {"Training Category":"Seen","Latency":"0.1s","Mapping":"25min"}. This record does not assert independent reproduction.

### HACNet

Median Translation Error (m): 0.19. Result ID: 69a15f4b35dfcabb00e69cc7.

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

[Method origin paper](<https://www.sota2.com/research/paper/68fa67541e209131cea158cd.md>)

Recorded evaluation configuration: {"Method Category":"SOTA","Training Protocol":"TS"}. This record does not assert independent reproduction.

### AS

Median Translation Error (m): 0.2. Result ID: 69a15f4b35dfcabb00e69cc4.

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

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

### AS (SIFT)

Median Translation Error (m): 0.2. Result ID: 69d602e747f34ce924be2da7.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a540.md>)

Recorded evaluation configuration: {"Training Category":"Seen","Latency":"0.4s","Mapping":"~35min"}. This record does not assert independent reproduction.

### DSAC\*

Median Translation Error (m): 0.21. Result ID: 69a15f4b35dfcabb00e69cc6.

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

[Method origin paper](<https://www.sota2.com/research/paper/68fa68821e209131cea1c8b0.md>)

Recorded evaluation configuration: {"Method Category":"SOTA","Training Protocol":"TS"}. This record does not assert independent reproduction.

### FastForward

Median Translation Error (m): 0.26. Result ID: 69d602e747f34ce924be2db2.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a540.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a540.md>)

Recorded evaluation configuration: {"Training Category":"Unseen","Latency":"0.5s","Mapping":"~30s"}. This record does not assert independent reproduction.

### ACE

Median Translation Error (m): 0.3. Result ID: 69d602e747f34ce924be2daa.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a540.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f691e209131cea456ab.md>)

[Implementation](<https://nianticlabs.github.io/ace>)

Recorded evaluation configuration: {"Training Category":"Seen","Latency":"0.1s","Mapping":"5min"}. This record does not assert independent reproduction.

### E5+1 (ALKD-LG)

Median Translation Error (m): 0.3. Result ID: 69d602e747f34ce924be2daf.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a540.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f141e209131cea43c1c.md>)

Recorded evaluation configuration: {"Training Category":"Unseen","Latency":"1.1s","Mapping":"~30s"}. This record does not assert independent reproduction.

### MCLoc

Median Translation Error (m): 0.39. Result ID: 69a15f4b35dfcabb00e69ccf.

[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.

### CROSSFIRE

Median Translation Error (m): 0.43. Result ID: 69a15f4b35dfcabb00e69ccd.

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

[Method origin paper](<https://www.sota2.com/research/paper/68fa70621e209131cea4acb8.md>)

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

### LENS

Median Translation Error (m): 0.44. Result ID: 69a15f4b35dfcabb00e69ccb.

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

[Method origin paper](<https://www.sota2.com/research/paper/68fa6af81e209131cea2b71b.md>)

Recorded evaluation configuration: {"Method Category":"Pose Regressors","Training Protocol":"TS"}. This record does not assert independent reproduction.

### FQN

Median Translation Error (m): 0.54. Result ID: 69a15f4b35dfcabb00e69ccc.

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

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

### NeFeS (DFNet)

Median Translation Error (m): 0.55. Result ID: 69a15f4b35dfcabb00e69cce.

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

[Method origin paper](<https://www.sota2.com/research/paper/68fa72581e209131cea55cf1.md>)

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

### Reloc3r

Median Translation Error (m): 0.73. Result ID: 69d602e747f34ce924be2db1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a540.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77921e209131cea7402f.md>)

[Implementation](<https://github.com/ffrivera0/reloc3r>)

Recorded evaluation configuration: {"Training Category":"Unseen","Latency":"0.6s","Mapping":"~30s"}. This record does not assert independent reproduction.

### Relpose-GNN

Median Translation Error (m): 1.14. Result ID: 69d602e747f34ce924be2dac.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a540.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69ba1e209131cea23cce.md>)

Recorded evaluation configuration: {"Training Category":"Unseen","Latency":"N/A","Mapping":"~30s"}. This record does not assert independent reproduction.

### MS-Transformer

Median Translation Error (m): 1.81. Result ID: 69a15f4b35dfcabb00e69cc9.

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

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a751e209131cea2843b.md>)

[Implementation](<https://github.com/yolish/multi-scene-pose-transformer>)

Recorded evaluation configuration: {"Method Category":"Pose Regressors","Training Protocol":"TS"}. This record does not assert independent reproduction.

### DFNet

Median Translation Error (m): 2. Result ID: 69a15f4b35dfcabb00e69cca.

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

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d181e209131cea37af1.md>)

Recorded evaluation configuration: {"Method Category":"Pose Regressors","Training Protocol":"TS"}. This record does not assert independent reproduction.

### ExReNet

Median Translation Error (m): 3.54. Result ID: 69d602e747f34ce924be2dae.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a540.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a3c1e209131cea26de5.md>)

Recorded evaluation configuration: {"Training Category":"Unseen","Latency":"∼0.4s","Mapping":"~30s"}. This record does not assert independent reproduction.

### Map-free

Median Translation Error (m): 3.73. Result ID: 69d602e747f34ce924be2dad.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a540.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d9d1e209131cea3ace9.md>)

Recorded evaluation configuration: {"Training Category":"Unseen","Latency":"∼0.2s","Mapping":"~30s"}. This record does not assert independent reproduction.

### DenseVLAD

Median Translation Error (m): 4. Result ID: 69a15f4b35dfcabb00e69cc2.

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

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

### CosPlace

Median Translation Error (m): 4.5. Result ID: 69a15f4b35dfcabb00e69cc3.

[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.

### MASt3R

Median Translation Error (m): 4.71. Result ID: 69d602e747f34ce924be2db0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a540.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa73ad1e209131cea5ddd2.md>)

Recorded evaluation configuration: {"Training Category":"Unseen","Latency":"9.0s","Mapping":"~30s"}. This record does not assert independent reproduction.

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