Visual Localization on Cambridge Landmarks OldHospital

0.23Median Translation Error (m)DSM

Evaluation Results

Method
DSM2022.11	0.23	0.38	105	—
original images2026.04	0.24	0.48	—	51.6
original images2026.04	0.24	0.5	—	50.5
easy-anon - single2026.04	0.24	0.47	—	51.1
easy-anon - single2026.04	0.25	0.46	—	50
easy-anon - inpaint2026.04	0.25	0.47	—	50
Canny2026.04	0.25	0.51	—	50
easy-anon - inpaint2026.04	0.25	0.47	—	50
Canny2026.04	0.25	0.47	—	51.6
SAM2 - fine masks2026.04	0.26	0.54	—	48.4
SAM2 - fine borders2026.04	0.26	0.49	—	47.3
SAM1 - fine borders2026.04	0.26	0.46	—	48.9
blur - 41 px2026.04	0.26	0.5	—	45.6
SAM2 - fine masks2026.04	0.26	0.56	—	47.3
SAM2 - fine borders2026.04	0.26	0.47	—	48.4
SAM1 - fine borders2026.04	0.26	0.45	—	48.4
blur - 41 px2026.04	0.29	0.51	—	45.1
SAM1 - fine masks2026.04	0.29	0.58	—	41.2
HLoc2022.11	0.3	0.15	1,335	—
DSAC++2022.11	0.3	0.2	207	—
HSCNet2022.11	0.3	0.19	207	—
SAM1 - fine masks2026.04	0.3	0.58	—	42.9
NeuMap2022.11	0.36	0.19	0.2	—
SAM1 - coarse borders2026.04	0.36	0.63	—	39.6
SAM1 - coarse borders2026.04	0.38	0.66	—	39.6
SAM2 - coarse borders2026.04	0.39	0.69	—	36.3
SAM2 - coarse borders2026.04	0.43	0.76	—	34.6
SAM1 - coarse masks2026.04	0.44	0.82	—	32.4
DiffusionEdge2026.04	0.44	0.79	—	30.2
SAM2 - coarse masks2026.04	0.45	0.82	—	28.6
SAM2 - coarse masks2026.04	0.45	0.9	—	31.3
DiffusionEdge2026.04	0.48	0.83	—	28.6
SAM1 - coarse masks2026.04	0.48	0.83	—	31.9
Metric3D → Canny2026.04	0.5	0.98	—	26.4
blur - 81 px2026.04	0.52	1.06	—	17
blur - 81 px2026.04	0.54	1.1	—	16.5
Squeezer2022.11	0.57	0.37	4.03	—
pixelization - 10x2026.04	0.58	1.01	—	28.6
pixelization - 10x2026.04	0.61	1.11	—	24.2
Metric3D → Canny2026.04	0.61	1.11	—	25.3
Mask2Former - semantic2026.04	0.98	1.42	—	6.6
Hybrid2022.11	1.01	0.75	0.62	—
Active search2022.11	1.12	0.52	140	—
Mask2Former - semantic2026.04	1.16	1.83	—	4.9
Mask2Former - borders2026.04	1.35	1.87	—	6.6
Mask2Former - borders2026.04	1.4	2.26	—	4.9
QP+RootSIFT2022.11	2.17	0.9	1.1	—
pixelization - 20x2026.04	2.17	3.46	—	1.1
pixelization - 20x2026.04	2.22	3.47	—	1.6
Mask2Former - random2026.04	2.4	3.8	—	1.6
Mask2Former - random2026.04	2.63	4	—	3.8