Visual Localization on i7Scenes
1Translation Error (cm)Joint
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| JointTraining Protocol=Joint Training, Scene=Heads2026.04 | 1 | 0.7 | 99.6 | — | — | |
| SARSTraining Protocol=Continual Learning, Scene=Heads2026.04 | 1.1 | 0.7 | 97.4 | — | — | |
| Buff-CSTraining Protocol=Continual Learning, Scene=Heads2026.04 | 1.3 | 0.9 | 95.8 | — | — | |
| JointTraining Protocol=Joint Training, Scene=Fire2026.04 | 1.7 | 0.7 | 92.3 | — | — | |
| JointTraining Protocol=Joint Training, Scene=Chess2026.04 | 1.8 | 0.6 | 98.8 | — | — | |
| Buff-CSTraining Protocol=Continual Learning, Scene=Chess2026.04 | 2.1 | 0.7 | 92.8 | — | — | |
| SARSTraining Protocol=Continual Learning, Scene=Chess2026.04 | 2.1 | 0.7 | 91.8 | — | — | |
| iCaRLTraining Protocol=Continual Learning, Scene=Chess2026.04 | 2.2 | 0.8 | 91.5 | — | — | |
| iCaRLTraining Protocol=Continual Learning, Scene=Heads2026.04 | 2.3 | 1.6 | 70.5 | — | — | |
| GDRTraining Protocol=Continual Learning, Scene=Chess2026.04 | 2.3 | 0.8 | 92.3 | — | — | |
| SARSTraining Protocol=Continual Learning, Scene=Fire2026.04 | 2.4 | 0.9 | 85 | — | — | |
| Buff-CSTraining Protocol=Continual Learning, Scene=Fire2026.04 | 2.5 | 1 | 91.3 | — | — | |
| JointTraining Protocol=Joint Training, Scene=Office2026.04 | 2.6 | 0.7 | 90.1 | — | — | |
| GDRTraining Protocol=Continual Learning, Scene=Fire2026.04 | 2.6 | 1 | 89.1 | — | — | |
| iCaRLTraining Protocol=Continual Learning, Scene=Fire2026.04 | 2.8 | 1.1 | 84.8 | — | — | |
| SARSTraining Protocol=Continual Learning, Scene=Office2026.04 | 3.1 | 0.9 | 81.8 | — | — | |
| iCaRLTraining Protocol=Continual Learning, Scene=Office2026.04 | 3.2 | 1 | 75.5 | — | — | |
| JointTraining Protocol=Joint Training, Scene=Redkitchen2026.04 | 3.5 | 1.1 | 70.9 | — | — | |
| JointTraining Protocol=Joint Training, Scene=Pumpkin2026.04 | 3.8 | 1.1 | 61.1 | — | — | |
| Buff-CSTraining Protocol=Continual Learning, Scene=Office2026.04 | 4 | 1 | 64.7 | — | — | |
| GDRTraining Protocol=Continual Learning, Scene=Office2026.04 | 4 | 1.1 | 63.9 | — | — | |
| GECTraining Protocol=Continual Learning, Scene=Chess2026.04 | 4.2 | 1.3 | 59.5 | — | — | |
| JointTraining Protocol=Joint Training, Scene=Stairs2026.04 | 4.4 | 1.3 | 59.7 | — | — | |
| iCaRLTraining Protocol=Continual Learning, Scene=Pumpkin2026.04 | 4.5 | 1.2 | 54.9 | — | — | |
| SARSTraining Protocol=Continual Learning, Scene=Redkitchen2026.04 | 4.5 | 1.3 | 56.7 | — | — | |
| GDRTraining Protocol=Continual Learning, Scene=Heads2026.04 | 4.6 | 3.1 | 51.9 | — | — | |
| SARSTraining Protocol=Continual Learning, Scene=Pumpkin2026.04 | 4.6 | 1.1 | 55.4 | — | — | |
| SARSTraining Protocol=Continual Learning, Scene=Stairs2026.04 | 4.6 | 1.2 | 56.2 | — | — | |
| iCaRLTraining Protocol=Continual Learning, Scene=Redkitchen2026.04 | 5 | 1.5 | 49.7 | — | — | |
| Buff-CSTraining Protocol=Continual Learning, Scene=Pumpkin2026.04 | 5 | 1.3 | 50 | — | — | |
| GECTraining Protocol=Continual Learning, Scene=Stairs2026.04 | 5.4 | 1.3 | 44.6 | — | — | |
| GDRTraining Protocol=Continual Learning, Scene=Pumpkin2026.04 | 5.4 | 1.5 | 44 | — | — | |
| GDRTraining Protocol=Continual Learning, Scene=Redkitchen2026.04 | 5.7 | 1.7 | 43.2 | — | — | |
| Buff-CSTraining Protocol=Continual Learning, Scene=Redkitchen2026.04 | 6 | 1.6 | 36.5 | — | — | |
| GDRTraining Protocol=Continual Learning, Scene=Stairs2026.04 | 6.5 | 1.5 | 32.7 | — | — | |
| iCaRLTraining Protocol=Continual Learning, Scene=Stairs2026.04 | 6.8 | 1.5 | 29.6 | — | — | |
| Buff-CSTraining Protocol=Continual Learning, Scene=Stairs2026.04 | 6.9 | 1.5 | 31.3 | — | — | |
| GECTraining Protocol=Continual Learning, Scene=Fire2026.04 | 9.2 | 3 | 30.3 | — | — | |
| GECTraining Protocol=Continual Learning, Scene=Office2026.04 | 11.1 | 2.7 | 16.7 | — | — | |
| Fine-tuneTraining Protocol=Continual Learning, Scene=Stairs2026.04 | 16.2 | 2 | 8.3 | — | — | |
| GECTraining Protocol=Continual Learning, Scene=Redkitchen2026.04 | 21.6 | 4.3 | 4.2 | — | — | |
| GECTraining Protocol=Continual Learning, Scene=Heads2026.04 | 22.1 | 13 | 3.6 | — | — | |
| GECTraining Protocol=Continual Learning, Scene=Pumpkin2026.04 | 35.3 | 7.9 | 0.5 | — | — | |
| Fine-tuneTraining Protocol=Continual Learning, Scene=Office2026.04 | 671.9 | 98.8 | 0 | — | — | |
| Fine-tuneTraining Protocol=Continual Learning, Scene=Pumpkin2026.04 | 1,020.1 | 126.9 | 0 | — | — | |
| Fine-tuneTraining Protocol=Continual Learning, Scene=Chess2026.04 | 1,180.7 | 111.8 | 0 | — | — | |
| Fine-tuneTraining Protocol=Continual Learning, Scene=Fire2026.04 | 1,254.8 | 96.6 | 0 | — | — | |
| Fine-tuneTraining Protocol=Continual Learning, Scene=Redkitchen2026.04 | 1,313 | 110.8 | 0 | — | — | |
| Fine-tuneTraining Protocol=Continual Learning, Scene=Heads2026.04 | 1,549.2 | 118.8 | 0 | — | — | |
| Buff-CSTraining Protocol=Continual Learning, Scene=Overall2026.04 | — | — | — | 66.1 | 13.03 | |
| Fine-tuneTraining Protocol=Continual Learning, Scene=Overall2026.04 | — | — | — | 1.12 | — | |
| GDRTraining Protocol=Continual Learning, Scene=Overall2026.04 | — | — | — | 59.6 | 12.25 | |
| GECTraining Protocol=Continual Learning, Scene=Overall2026.04 | — | — | — | 26.5 | 62.67 | |
| iCaRLTraining Protocol=Continual Learning, Scene=Overall2026.04 | — | — | — | 65.2 | 11.37 | |
| JointTraining Protocol=Joint Training, Scene=Overall2026.04 | — | — | — | 81.7 | — | |
| SARSTraining Protocol=Continual Learning, Scene=Overall2026.04 | — | — | — | 74.9 | 6.65 |