ResearchBenchmarksVisual Localization on OldHospitalVisual Localization on OldHospitalFollow3.422Median Position ErrorSophia3.406523.511013.61553.71999Dec 31, 2025Evaluation resultsMethodMethodLinksMedian Position ErrorMean Position ErrorMedian Rotation ErrorMean Rotation Errors^p Scores^q ScoreSophia2025.123.4224.1488.2388.9890.3439-0.3439OCP-LS2025.123.4654.165.0026.2220.3558-4.0451AdamW2025.123.8094.4557.9278.4910.3692-1.7297