ResearchBenchmarksVisual Localization on LaMAR Phone queries (val)Visual Localization on LaMAR Phone queries (val)Follow58.84CAB Recall (1°, 0.1m)RoMa49.386451.840754.29556.7493Jan 7, 2026Evaluation resultsMethodMethodLinksCAB Recall (1°, 0.1m)CAB Recall (5°, 1.0m)HGE Recall (1°, 0.1m)HGE Recall (5°, 1.0m)LIN Recall (1°, 0.1m)LIN Recall (5°, 1.0m)Avg Recall (1°, 0.1m)Avg Recall (5°, 1.0m)RoMa2026.0158.8466.4173.9595.3889.9295.8774.2485.89HlocFeatures=SuperPoint, M...Features=SuperPoint, Matcher=SuperGlue2026.0152.0260.6170.5994.1283.894.8868.883.2HlocFeatures=SuperPoint, M...Features=SuperPoint, Matcher=LightGlue2026.0149.7558.0871.0192.4484.394.8868.3581.8