Visual Localization on LaMAR (test)
80.53CAB Recall (1°, 0.1m)RoMa
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| RoMaMapping top-K=50, Localization top-K=102026.01 | 80.53 | 92.55 | 78.27 | 89.43 | 88.9 | 98.37 | 82.57 | 93.45 | |
| Hloc (SP+SG)Local Feature=SuperPoint, Matcher=SuperGlue, Mapping top-K=50, Localization top-K=102026.01 | 78.67 | 90.23 | 74.8 | 85.59 | 86.55 | 97.18 | 80.01 | 91 | |
| Hloc (SP+LG)Local Feature=SuperPoint, Matcher=LightGlue, Mapping top-K=50, Localization top-K=102026.01 | 78.06 | 89.85 | 74.21 | 84.25 | 85.94 | 97.15 | 79.4 | 90.42 |