Visual Localization on Cambridge Landmarks Shop Façade

0.06Mean Pose Error (m)original images

Evaluation results

Method
original images2026.04	0.06	0.28	95.1
Canny2026.04	0.06	0.22	94.2
SAM1 - fine masks2026.04	0.06	0.28	93.2
original images2026.04	0.06	0.27	95.1
Canny2026.04	0.06	0.25	94.2
SAM1 - fine masks2026.04	0.06	0.3	95.1
blur - 41 px2026.04	0.07	0.31	95.1
easy-anon - single2026.04	0.07	0.26	95.1
easy-anon - inpaint2026.04	0.07	0.27	95.1
SAM2 - fine masks2026.04	0.07	0.36	94.2
SAM2 - fine borders2026.04	0.07	0.33	94.2
SAM1 - fine borders2026.04	0.07	0.33	94.2
blur - 41 px2026.04	0.07	0.31	95.1
easy-anon - single2026.04	0.07	0.28	95.1
easy-anon - inpaint2026.04	0.07	0.26	94.2
SAM2 - fine masks2026.04	0.07	0.36	94.2
SAM2 - fine borders2026.04	0.07	0.31	94.2
SAM1 - fine borders2026.04	0.07	0.33	92.2
SAM1 - coarse masks2026.04	0.08	0.35	92.2
SAM1 - coarse masks2026.04	0.08	0.35	93.2
SAM1 - coarse borders2026.04	0.08	0.32	94.2
SAM1 - coarse borders2026.04	0.09	0.34	93.2
pixelization - 10x2026.04	0.1	0.42	87.4
SAM2 - coarse masks2026.04	0.1	0.42	84.5
SAM2 - coarse borders2026.04	0.1	0.43	91.3
pixelization - 10x2026.04	0.1	0.39	89.3
SAM2 - coarse masks2026.04	0.1	0.43	87.4
SAM2 - coarse borders2026.04	0.1	0.41	88.3
Mask2Former - borders2026.04	0.13	0.5	69.9
DiffusionEdge2026.04	0.14	0.61	77.7
Mask2Former - borders2026.04	0.14	0.49	72.8
DiffusionEdge2026.04	0.15	0.69	80.6
Mask2Former - semantic2026.04	0.15	0.53	73.8
Mask2Former - semantic2026.04	0.15	0.52	73.8
blur - 81 px2026.04	0.18	0.6	70.9
Mask2Former - random2026.04	0.18	0.65	63.1
blur - 81 px2026.04	0.19	0.66	68
Metric3D → Canny2026.04	0.21	0.74	55.3
Mask2Former - random2026.04	0.22	0.73	60.2
Metric3D → Canny2026.04	0.25	0.82	49.5
pixelization - 20x2026.04	0.53	2.55	15.5
pixelization - 20x2026.04	0.64	2.9	15.5