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

Source: [Visual Localization on Cambridge Landmarks (Scene-wise Median Error in cm/deg)](<https://www.sota2.com/research/sota/visual-localization-on-cambridge-landmarks-scene-wise-median-error-in-cm-deg>)

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

Data updated: 2026-05-20T06:43:24.686Z

Evaluation of Visual Localization performance on the Cambridge Landmarks dataset, reporting Median Translation Error in centimeters (cm) and Median Rotation Error in degrees (°) for the College, Hospital, Shop, Church, and Court scenes, along with their average.

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 |
| Metric | College: Median Translation Error (cm) |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 25 of 25 |
| 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

- [College: Median Translation Error (cm)](<https://www.sota2.com/research/sota/visual-localization-on-cambridge-landmarks-scene-wise-median-error-in-cm-deg.md?metric=College%3A%20Median%20Translation%20Error%20(cm)>): Lower is better; unit: SCALAR.

- [College: Median Rotation Error (°)](<https://www.sota2.com/research/sota/visual-localization-on-cambridge-landmarks-scene-wise-median-error-in-cm-deg.md?metric=College%3A%20Median%20Rotation%20Error%20(%C2%B0)>): Lower is better; unit: SCALAR.

- [Hospital: Median Translation Error (cm)](<https://www.sota2.com/research/sota/visual-localization-on-cambridge-landmarks-scene-wise-median-error-in-cm-deg.md?metric=Hospital%3A%20Median%20Translation%20Error%20(cm)>): Lower is better; unit: SCALAR.

- [Hospital: Median Rotation Error (°)](<https://www.sota2.com/research/sota/visual-localization-on-cambridge-landmarks-scene-wise-median-error-in-cm-deg.md?metric=Hospital%3A%20Median%20Rotation%20Error%20(%C2%B0)>): Lower is better; unit: SCALAR.

- [Shop: Median Translation Error (cm)](<https://www.sota2.com/research/sota/visual-localization-on-cambridge-landmarks-scene-wise-median-error-in-cm-deg.md?metric=Shop%3A%20Median%20Translation%20Error%20(cm)>): Lower is better; unit: SCALAR.

- [Shop: Median Rotation Error (°)](<https://www.sota2.com/research/sota/visual-localization-on-cambridge-landmarks-scene-wise-median-error-in-cm-deg.md?metric=Shop%3A%20Median%20Rotation%20Error%20(%C2%B0)>): Lower is better; unit: SCALAR.

- [Church: Median Translation Error (cm)](<https://www.sota2.com/research/sota/visual-localization-on-cambridge-landmarks-scene-wise-median-error-in-cm-deg.md?metric=Church%3A%20Median%20Translation%20Error%20(cm)>): Lower is better; unit: SCALAR.

- [Church: Median Rotation Error (°)](<https://www.sota2.com/research/sota/visual-localization-on-cambridge-landmarks-scene-wise-median-error-in-cm-deg.md?metric=Church%3A%20Median%20Rotation%20Error%20(%C2%B0)>): Lower is better; unit: SCALAR.

- [Average: Median Translation Error (cm)](<https://www.sota2.com/research/sota/visual-localization-on-cambridge-landmarks-scene-wise-median-error-in-cm-deg.md?metric=Average%3A%20Median%20Translation%20Error%20(cm)>): Lower is better; unit: SCALAR.

- [Average: Median Rotation Error (°)](<https://www.sota2.com/research/sota/visual-localization-on-cambridge-landmarks-scene-wise-median-error-in-cm-deg.md?metric=Average%3A%20Median%20Rotation%20Error%20(%C2%B0)>): Lower is better; unit: SCALAR.

- [Court: Median Translation Error (cm)](<https://www.sota2.com/research/sota/visual-localization-on-cambridge-landmarks-scene-wise-median-error-in-cm-deg.md?metric=Court%3A%20Median%20Translation%20Error%20(cm)>): Lower is better; unit: SCALAR.

- [Court: Median Rotation Error (°)](<https://www.sota2.com/research/sota/visual-localization-on-cambridge-landmarks-scene-wise-median-error-in-cm-deg.md?metric=Court%3A%20Median%20Rotation%20Error%20(%C2%B0)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | College: Median Translation Error (cm) | Result date | Report paper |
| --- | --- | --- | --- |
| NeRFMatch | 12.5 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| STDLoc | 15 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| RAP\_ref | 15 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| DFNet\_ref | 16 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| GRLoc\_ref | 16 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| DSAC | 18 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| GLACE | 19 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| ACEGS-CPR | 20 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| ACE | 28 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| FQN-MN | 28 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| MCLoc | 31 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| GRLoc | 34 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| LENS | 34 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| HR-APR | 36 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| NeFeS50 | 37 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| Reloc3r | 42 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| CrossFire | 47 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| RAP | 52 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| PMNet | 68 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| DFNet | 73 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| MS-Trans. | 83 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| PAE | 90 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| MapNet | 107 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| PoseNet | 166 | Not recorded | 691d4ef9d6b0dd334292d5fe |
| ExReNet | 233 | Not recorded | 691d4ef9d6b0dd334292d5fe |

### NeRFMatch

College: Median Translation Error (cm): 12.5. Result ID: 6a0d5719fbc373592c04c3bd.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa748b1e209131cea6253e.md>)

Recorded evaluation configuration: {"Paradigm":"PPR"}. This record does not assert independent reproduction.

### STDLoc

College: Median Translation Error (cm): 15. Result ID: 6a0d5719fbc373592c04c3c0.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa779c1e209131cea74597.md>)

[Implementation](<https://zju3dv.github.io/STDLoc>)

Recorded evaluation configuration: {"Paradigm":"PPR"}. This record does not assert independent reproduction.

### RAP\_ref

College: Median Translation Error (cm): 15. Result ID: 6a0d5719fbc373592c04c3c1.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76031e209131cea6aea5.md>)

Recorded evaluation configuration: {"Paradigm":"PPR","Refinement":"true"}. This record does not assert independent reproduction.

### DFNet\_ref

College: Median Translation Error (cm): 16. Result ID: 6a0d5719fbc373592c04c3bf.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76031e209131cea6aea5.md>)

Recorded evaluation configuration: {"Paradigm":"PPR","Refinement":"true"}. This record does not assert independent reproduction.

### GRLoc\_ref

College: Median Translation Error (cm): 16. Result ID: 6a0d5719fbc373592c04c3c2.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

[Method origin paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

Recorded evaluation configuration: {"Paradigm":"PPR","Refinement":"true"}. This record does not assert independent reproduction.

### DSAC

College: Median Translation Error (cm): 18. Result ID: 6a0d5719fbc373592c04c3b4.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

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

Recorded evaluation configuration: {"Paradigm":"SCR"}. This record does not assert independent reproduction.

### GLACE

College: Median Translation Error (cm): 19. Result ID: 6a0d5719fbc373592c04c3b6.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

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

Recorded evaluation configuration: {"Paradigm":"SCR"}. This record does not assert independent reproduction.

### ACEGS-CPR

College: Median Translation Error (cm): 20. Result ID: 6a0d5719fbc373592c04c3be.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa773e1e209131cea71f0c.md>)

Recorded evaluation configuration: {"Paradigm":"PPR"}. This record does not assert independent reproduction.

### ACE

College: Median Translation Error (cm): 28. Result ID: 6a0d5719fbc373592c04c3b5.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

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

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

Recorded evaluation configuration: {"Paradigm":"SCR"}. This record does not assert independent reproduction.

### FQN-MN

College: Median Translation Error (cm): 28. Result ID: 6a0d5719fbc373592c04c3b8.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

Recorded evaluation configuration: {"Paradigm":"PPR"}. This record does not assert independent reproduction.

### MCLoc

College: Median Translation Error (cm): 31. Result ID: 6a0d5719fbc373592c04c3bc.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

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

[Implementation](<https://github.com/ga1i13o/mcloc_poseref>)

Recorded evaluation configuration: {"Paradigm":"PPR"}. This record does not assert independent reproduction.

### GRLoc

College: Median Translation Error (cm): 34. Result ID: 6a0d5719fbc373592c04c3b1.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

[Method origin paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

Recorded evaluation configuration: {"Paradigm":"GRR"}. This record does not assert independent reproduction.

### LENS

College: Median Translation Error (cm): 34. Result ID: 6a0d5719fbc373592c04c3b7.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

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

Recorded evaluation configuration: {"Paradigm":"PPR"}. This record does not assert independent reproduction.

### HR-APR

College: Median Translation Error (cm): 36. Result ID: 6a0d5719fbc373592c04c3bb.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72ed1e209131cea594d9.md>)

Recorded evaluation configuration: {"Paradigm":"PPR"}. This record does not assert independent reproduction.

### NeFeS50

College: Median Translation Error (cm): 37. Result ID: 6a0d5719fbc373592c04c3ba.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

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

Recorded evaluation configuration: {"Paradigm":"PPR"}. This record does not assert independent reproduction.

### Reloc3r

College: Median Translation Error (cm): 42. Result ID: 6a0d5719fbc373592c04c3b3.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

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

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

Recorded evaluation configuration: {"Paradigm":"RPR"}. This record does not assert independent reproduction.

### CrossFire

College: Median Translation Error (cm): 47. Result ID: 6a0d5719fbc373592c04c3b9.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

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

Recorded evaluation configuration: {"Paradigm":"PPR"}. This record does not assert independent reproduction.

### RAP

College: Median Translation Error (cm): 52. Result ID: 6a0d5719fbc373592c04c3b0.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76031e209131cea6aea5.md>)

Recorded evaluation configuration: {"Paradigm":"APR"}. This record does not assert independent reproduction.

### PMNet

College: Median Translation Error (cm): 68. Result ID: 6a0d5719fbc373592c04c3af.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa740c1e209131cea5f74c.md>)

Recorded evaluation configuration: {"Paradigm":"APR"}. This record does not assert independent reproduction.

### DFNet

College: Median Translation Error (cm): 73. Result ID: 6a0d5719fbc373592c04c3ae.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

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

Recorded evaluation configuration: {"Paradigm":"APR"}. This record does not assert independent reproduction.

### MS-Trans.

College: Median Translation Error (cm): 83. Result ID: 6a0d5719fbc373592c04c3ad.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

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

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

Recorded evaluation configuration: {"Paradigm":"APR"}. This record does not assert independent reproduction.

### PAE

College: Median Translation Error (cm): 90. Result ID: 6a0d5719fbc373592c04c3ac.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d001e209131cea37340.md>)

Recorded evaluation configuration: {"Paradigm":"APR"}. This record does not assert independent reproduction.

### MapNet

College: Median Translation Error (cm): 107. Result ID: 6a0d5719fbc373592c04c3ab.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64301e209131cea0358b.md>)

[Implementation](<https://goo.gl/mRB3Au>)

Recorded evaluation configuration: {"Paradigm":"APR"}. This record does not assert independent reproduction.

### PoseNet

College: Median Translation Error (cm): 166. Result ID: 6a0d5719fbc373592c04c3aa.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa624b1e209131ce9f8af6.md>)

Recorded evaluation configuration: {"Paradigm":"APR"}. This record does not assert independent reproduction.

### ExReNet

College: Median Translation Error (cm): 233. Result ID: 6a0d5719fbc373592c04c3b2.

[Reporting paper](<https://www.sota2.com/research/paper/691d4ef9d6b0dd334292d5fe.md>)

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

Recorded evaluation configuration: {"Paradigm":"RPR"}. This record does not assert independent reproduction.

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