Visual Localization on Cambridge Landmarks ShopFacade
0.04Median Translation ErrorAS (SIFT)
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| AS (SIFT)Training Category=Seen, Latency=0.4s, Mapping=~35min2025.10 | 0.04 | 0.2 | — | |
| hLoc (SP+SG)Training Category=Seen, Latency=∼1.2s, Mapping=~35min2025.10 | 0.04 | 0.2 | — | |
| MASt3R + KaptureTraining Category=Seen, Latency=9.0s2025.10 | 0.04 | 0.2 | — | |
| GLACETraining Category=Seen, Latency=0.1s, Mapping=25min2025.10 | 0.04 | 0.2 | — | |
| E5+1 (ALKD-LG)Training Category=Unseen, Latency=1.1s, Mapping=~30s2025.10 | 0.05 | 0.3 | — | |
| ACETraining Category=Seen, Latency=0.1s, Mapping=5min2025.10 | 0.06 | 0.3 | — | |
| FastForwardTraining Category=Unseen, Latency=0.5s, Mapping=~30s2025.10 | 0.08 | 0.4 | — | |
| Reloc3rTraining Category=Unseen, Latency=0.6s, Mapping=~30s2025.10 | 0.14 | 0.6 | — | |
| HLocLocalization Approach=FM, Scene Compression=false2022.11 | 0.2 | 0.04 | 316 | |
| NeuMapLocalization Approach=E2E, Scene Compression=true2022.11 | 0.25 | 0.06 | 0.3 | |
| DSAC++Localization Approach=E2E, Scene Compression=false2022.11 | 0.3 | 0.06 | 207 | |
| HSCNetLocalization Approach=E2E, Scene Compression=false2022.11 | 0.3 | 0.06 | 207 | |
| DSMLocalization Approach=E2E, Scene Compression=false2022.11 | 0.3 | 0.06 | 27 | |
| SqueezerLocalization Approach=FM, Scene Compression=true2022.11 | 0.38 | 0.11 | 1.04 | |
| Relpose-GNNTraining Category=Unseen, Latency=N/A, Mapping=~30s2025.10 | 0.48 | 2.5 | — | |
| HybridLocalization Approach=FM, Scene Compression=true2022.11 | 0.54 | 0.19 | 0.16 | |
| ExReNetTraining Category=Unseen, Latency=∼0.4s, Mapping=~30s2025.10 | 0.72 | 2.4 | — | |
| Map-freeTraining Category=Unseen, Latency=∼0.2s, Mapping=~30s2025.10 | 0.97 | 3.2 | — | |
| Active searchLocalization Approach=FM, Scene Compression=false2022.11 | 1.12 | 0.12 | 38.7 | |
| MASt3RTraining Category=Unseen, Latency=9.0s, Mapping=~30s2025.10 | 1.14 | 0.7 | — | |
| QP+RootSIFTLocalization Approach=FM, Scene Compression=true2022.11 | 1.4 | 0.72 | 0.41 |