Visual Localization on InLoc DUC1 (0.25m/2°, 0.5m/5°, 1.0m/10°)
67.7Success Rate (0.25m, 2°)RoMa v2
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| RoMa v22025.11 | 67.7 | 84.3 | 94.4 | |
| RoMa2025.11 | 60.6 | 79.3 | 89.9 | |
| RoMa2026.05 | 60.1 | 79.3 | 89.9 | |
| LoMa-LModel Size=Large2026.04 | 59.1 | 80.8 | 91.9 | |
| LoMa-BModel Size=Base2026.04 | 57.1 | 80.8 | 91.9 | |
| MASt3R2026.05 | 56.1 | 79.3 | 90.9 | |
| UniCorrnstage=22026.05 | 56.1 | 79.3 | 89.4 | |
| LoMa-GModel Size=Giant2026.04 | 55.6 | 80.3 | 91.4 | |
| PATS2026.04 | 55.6 | 71.2 | 81 | |
| PATS2026.05 | 55.6 | 71.2 | 81 | |
| LoMa-B128Model Size=Base, Descriptor Dim=1282026.04 | 54.5 | 76.8 | 87.9 | |
| CoMatch2026.04 | 54.5 | 75.3 | 86.9 | |
| Ours2026.04 | 53.7 | 75.5 | 87.5 | |
| CasMTR2026.05 | 53.5 | 76.8 | 85.4 | |
| TopicFM2026.04 | 52 | 74.7 | 87.4 | |
| EfficientLoFTR2026.04 | 52 | 74.7 | 86.9 | |
| AspanFormer2026.04 | 51.5 | 73.7 | 86 | |
| DKM2026.05 | 51.5 | 75.3 | 86.9 | |
| SP+SG2026.04 | 49 | 68.7 | 80.8 | |
| SP + SG2026.05 | 49 | 68.7 | 80.8 | |
| LoFTR2026.04 | 47.5 | 72.2 | 84.8 | |
| LoFTR2026.05 | 47.5 | 72.2 | 84.8 | |
| SP+SGFeatures=SuperPoint, Matcher=SuperGlue2026.04 | 46.5 | 65.7 | 78.3 | |
| SP+LGFeatures=SuperPoint, Matcher=LightGlue2026.04 | 43.9 | 64.6 | 76.8 | |
| DISK+LGFeatures=DISK, Matcher=LightGlue2026.04 | 43.4 | 60.6 | 74.2 | |
| ALIKED+LGFeatures=ALIKED, Matcher=LightGlue2026.04 | 41.4 | 64.6 | 79.8 | |
| DRC-Net2026.04 | 40.6 | 65.6 | 70.1 |