ResearchBenchmarksVisual Localization on KingsCollegeFollow2.168Position Error (Median)Sophia2.154482.245742.3372.42826Dec 31, 2025Evaluation ResultsMethodMethodLinksPosition Error (Median)Position Error (Mean)Rotation Error (Median)Rotation Error (Mean)s^ps^qSophia2025.122.1682.8755.8587.0370.0459-0.0459OCP-LS2025.122.292.7844.1275.240.4626-4.0757AdamW2025.122.5062.9545.7437.0920.1685-0.4656