Visual Localization on Cambridge Landmarks (Scene-wise Median Error in cm/deg)
12.5College: Median Translation Error (cm)NeRFMatch
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| NeRFMatchParadigm=PPR2025.11 | 12.5 | 0.23 | 20.9 | 0.38 | 8.4 | 0.4 | 10.9 | 0.35 | 14.5 | 0.29 | 19.6 | 0.09 | |
| STDLocParadigm=PPR2025.11 | 15 | 0.17 | 11.9 | 0.21 | 3 | 0.13 | 4.7 | 0.14 | 10.1 | 0.14 | 15.7 | 0.06 | |
| RAP_refParadigm=PPR, Refinement=true2025.11 | 15 | 0.23 | 18 | 0.38 | 5 | 0.23 | 9 | 0.23 | 12 | 0.27 | 22 | 0.15 | |
| DFNet_refParadigm=PPR, Refinement=true2025.11 | 16 | 0.24 | 21 | 0.41 | 8 | 0.42 | 10 | 0.26 | 14 | 0.33 | 25 | 0.13 | |
| GRLoc_refParadigm=PPR, Refinement=true2025.11 | 16 | 0.21 | 16 | 0.35 | 5 | 0.2 | 8 | 0.23 | 11 | 0.25 | 21 | 0.11 | |
| DSACParadigm=SCR2025.11 | 18 | 0.3 | 21 | 0.4 | 5 | 0.3 | 15 | 0.6 | 15 | 0.4 | 34 | 0.2 | |
| GLACEParadigm=SCR2025.11 | 19 | 0.3 | 17 | 0.4 | 4 | 0.2 | 9 | 0.3 | 12 | 0.3 | 19 | 0.1 | |
| ACEGS-CPRParadigm=PPR2025.11 | 20 | 0.29 | 21 | 0.4 | 5 | 0.24 | 13 | 0.4 | 15 | 0.33 | — | — | |
| ACEParadigm=SCR2025.11 | 28 | 0.4 | 31 | 0.6 | 5 | 0.3 | 18 | 0.6 | 21 | 0.5 | 43 | 0.2 | |
| FQN-MNParadigm=PPR2025.11 | 28 | 0.38 | 54 | 0.82 | 13 | 0.63 | 58 | 2 | 38 | 0.96 | 4,253 | 9.16 | |
| MCLocParadigm=PPR2025.11 | 31 | 0.42 | 39 | 0.73 | 12 | 0.45 | 26 | 0.88 | 27 | 0.62 | — | — | |
| GRLocParadigm=GRR2025.11 | 34 | 0.42 | 54 | 0.88 | 15 | 0.48 | 46 | 0.93 | 37 | 0.68 | 88 | 0.53 | |
| LENSParadigm=PPR2025.11 | 34 | 0.54 | 45 | 0.96 | 28 | 1.66 | 54 | 1.66 | 40 | 1.21 | — | — | |
| HR-APRParadigm=PPR2025.11 | 36 | 0.58 | 53 | 0.89 | 13 | 0.51 | 38 | 1.16 | 35 | 0.78 | — | — | |
| NeFeS50Paradigm=PPR2025.11 | 37 | 0.54 | 52 | 0.88 | 15 | 0.53 | 37 | 1.14 | 35 | 0.77 | — | — | |
| Reloc3rParadigm=RPR2025.11 | 42 | 0.36 | 62 | 0.55 | 13 | 0.58 | 34 | 0.58 | 38 | 0.52 | 122 | 0.73 | |
| CrossFireParadigm=PPR2025.11 | 47 | 0.7 | 43 | 0.7 | 20 | 1.2 | 39 | 1.4 | 37 | 1 | — | — | |
| RAPParadigm=APR2025.11 | 52 | 0.9 | 87 | 1.21 | 33 | 1.48 | 53 | 1.52 | 56 | 1.28 | 115 | 1.68 | |
| PMNetParadigm=APR2025.11 | 68 | 1.97 | 103 | 1.31 | 58 | 2.1 | 133 | 3.73 | 90 | 2.27 | — | — | |
| DFNetParadigm=APR2025.11 | 73 | 2.37 | 200 | 2.98 | 67 | 2.21 | 137 | 4.03 | 119 | 2.9 | 217 | 4.11 | |
| MS-Trans.Paradigm=APR2025.11 | 83 | 1.47 | 181 | 2.39 | 86 | 3.07 | 162 | 3.99 | 128 | 2.73 | — | — | |
| PAEParadigm=APR2025.11 | 90 | 1.49 | 207 | 2.58 | 99 | 3.88 | 164 | 4.16 | 140 | 3.03 | — | — | |
| MapNetParadigm=APR2025.11 | 107 | 1.89 | 194 | 3.91 | 149 | 4.22 | 200 | 4.53 | 163 | 3.64 | — | — | |
| PoseNetParadigm=APR2025.11 | 166 | 4.86 | 262 | 4.9 | 141 | 7.18 | 245 | 7.95 | 204 | 6.23 | 683 | 3.5 | |
| ExReNetParadigm=RPR2025.11 | 233 | 2.48 | 354 | 3.49 | 72 | 2.41 | 230 | 3.72 | 222 | 3.03 | 979 | 4.46 |