Visual Localization on Cambridge Landmarks (Scene-wise Median Error in cm/deg) benchmark leaderboard · SOTA2 Research

Visual Localization on Cambridge Landmarks (Scene-wise Median Error in cm/deg)

12.5College: Median Translation Error (cm)NeRFMatch

Evaluation Results

Method	Links
NeRFMatch2025.11		12.5	0.23	20.9	0.38	8.4	0.4	10.9	0.35	14.5	0.29	19.6	0.09
STDLoc2025.11		15	0.17	11.9	0.21	3	0.13	4.7	0.14	10.1	0.14	15.7	0.06
RAP_ref2025.11		15	0.23	18	0.38	5	0.23	9	0.23	12	0.27	22	0.15
DFNet_ref2025.11		16	0.24	21	0.41	8	0.42	10	0.26	14	0.33	25	0.13
GRLoc_ref2025.11		16	0.21	16	0.35	5	0.2	8	0.23	11	0.25	21	0.11
DSAC2025.11		18	0.3	21	0.4	5	0.3	15	0.6	15	0.4	34	0.2
GLACE2025.11		19	0.3	17	0.4	4	0.2	9	0.3	12	0.3	19	0.1
ACEGS-CPR2025.11		20	0.29	21	0.4	5	0.24	13	0.4	15	0.33	—	—
ACE2025.11		28	0.4	31	0.6	5	0.3	18	0.6	21	0.5	43	0.2
FQN-MN2025.11		28	0.38	54	0.82	13	0.63	58	2	38	0.96	4,253	9.16
MCLoc2025.11		31	0.42	39	0.73	12	0.45	26	0.88	27	0.62	—	—
GRLoc2025.11		34	0.42	54	0.88	15	0.48	46	0.93	37	0.68	88	0.53
LENS2025.11		34	0.54	45	0.96	28	1.66	54	1.66	40	1.21	—	—
HR-APR2025.11		36	0.58	53	0.89	13	0.51	38	1.16	35	0.78	—	—
NeFeS502025.11		37	0.54	52	0.88	15	0.53	37	1.14	35	0.77	—	—
Reloc3r2025.11		42	0.36	62	0.55	13	0.58	34	0.58	38	0.52	122	0.73
CrossFire2025.11		47	0.7	43	0.7	20	1.2	39	1.4	37	1	—	—
RAP2025.11		52	0.9	87	1.21	33	1.48	53	1.52	56	1.28	115	1.68
PMNet2025.11		68	1.97	103	1.31	58	2.1	133	3.73	90	2.27	—	—
DFNet2025.11		73	2.37	200	2.98	67	2.21	137	4.03	119	2.9	217	4.11
MS-Trans.2025.11		83	1.47	181	2.39	86	3.07	162	3.99	128	2.73	—	—
PAE2025.11		90	1.49	207	2.58	99	3.88	164	4.16	140	3.03	—	—
MapNet2025.11		107	1.89	194	3.91	149	4.22	200	4.53	163	3.64	—	—
PoseNet2025.11		166	4.86	262	4.9	141	7.18	245	7.95	204	6.23	683	3.5
ExReNet2025.11		233	2.48	354	3.49	72	2.41	230	3.72	222	3.03	979	4.46