Visual Localization on LaMAR (val)
86.79CAB Recall (1°, 0.1m)RoMa
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| RoMaMapping top-K=50, Localization top-K=102026.01 | 86.79 | 95.14 | 78.55 | 85.64 | 95.7 | 99.24 | 87.01 | 93.34 | |
| Hloc (SP+SG)Local Feature=SuperPoint, Matcher=SuperGlue, Mapping top-K=50, Localization top-K=102026.01 | 81.07 | 93.35 | 77.86 | 83.16 | 95.63 | 98.96 | 84.86 | 91.82 | |
| Hloc (SP+LG)Local Feature=SuperPoint, Matcher=LightGlue, Mapping top-K=50, Localization top-K=102026.01 | 79.88 | 93.86 | 77.01 | 82.48 | 95.08 | 98.61 | 83.99 | 91.65 |