Visual Localization on RobotCar Seasons (night)
34.9Recall (0.25m, 2°)HLoc+PixLoc
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| HLoc+PixLocMethod Group=S2024.02 | 34.9 | 67.7 | 89.5 | |
| HLoc[SP+SG]Method Group=S2024.02 | 33.3 | 65.9 | 88.8 | |
| DeViLocMethod Group=SD2024.02 | 31.3 | 68.9 | 92.4 | |
| LBRMethod Group=S2024.02 | 24.9 | 62.3 | 86.1 | |
| D2NetMethod Group=S2024.02 | 20.4 | 40.1 | 55 | |
| CycleGAN CDBackbone=ResNet-101, Paradigm=with global map2023.09 | 16.3 | 29.2 | 40.9 | |
| HEDNGAN CDBackbone=ResNet-101, Paradigm=with global map2023.09 | 15.9 | 29.7 | 40 | |
| S2DNetMethod Group=S2024.02 | 14.5 | 40.2 | 60.7 | |
| CycleGAN CDBackbone=VGG-16, Paradigm=with global map2023.09 | 14.5 | 26.1 | 35.6 | |
| CycleGAN CDBackbone=ResNet-101, Paradigm=w/o global map2023.09 | 14.1 | 26.2 | 36 | |
| HEDNGAN CDBackbone=VGG-16, Paradigm=with global map2023.09 | 14 | 27.1 | 37.8 | |
| HEDNGAN CDBackbone=ResNet-101, Paradigm=w/o global map2023.09 | 13.4 | 24.7 | 34.3 | |
| CycleGAN CDBackbone=VGG-16, Paradigm=w/o global map2023.09 | 12.2 | 21.9 | 29.2 | |
| HEDNGAN CDBackbone=VGG-16, Paradigm=w/o global map2023.09 | 12.1 | 22.7 | 31.1 | |
| PixLocMethod Group=S2024.02 | 12 | 20.7 | 45.4 | |
| GeMBackbone=ResNet-101, Paradigm=with global map2023.09 | 10.3 | 18.1 | 25.2 | |
| GeMBackbone=VGG-16, Paradigm=with global map2023.09 | 8.2 | 14.6 | 20.3 | |
| GeMBackbone=ResNet-101, Paradigm=w/o global map2023.09 | 7.6 | 14.6 | 20.3 | |
| HLoc[SP]Method Group=S2024.02 | 7.2 | 17.4 | 34.4 | |
| ASMethod Group=S2024.02 | 6.9 | 15.6 | 31.7 | |
| NV+SPHierarchical localization=true2018.12 | 6.6 | 17.1 | 32.2 | |
| SMCExtra semantic data=true2018.12 | 6.2 | 18.5 | 44.3 | |
| GeMBackbone=VGG-16, Paradigm=w/o global map2023.09 | 5.9 | 11.4 | 16.1 | |
| NV+SIFTHierarchical localization=true2018.12 | 4.1 | 9.1 | 24.4 | |
| HF-NetHierarchical localization=true2018.12 | 2.7 | 6.6 | 15.8 | |
| DenseVLADHierarchical localization=false2018.12 | 0.9 | 3.4 | 19.9 | |
| CycleGAN CDBackbone=ResNet-101, Paradigm=top-12023.09 | 0.5 | 2.2 | 22.6 | |
| ASHierarchical localization=false2018.12 | 0.5 | 1.1 | 3.4 | |
| HEDNGAN CDBackbone=ResNet-101, Paradigm=top-12023.09 | 0.3 | 1.7 | 21.4 | |
| CSLHierarchical localization=false2018.12 | 0.2 | 0.9 | 5.3 | |
| NetVLADHierarchical localization=false2018.12 | 0.2 | 1.8 | 15.5 | |
| CycleGAN CDBackbone=VGG-16, Paradigm=top-12023.09 | 0.1 | 1.3 | 17.4 | |
| HEDNGAN CDBackbone=VGG-16, Paradigm=top-12023.09 | 0.1 | 1.3 | 16.3 | |
| GeMBackbone=ResNet-101, Paradigm=top-12023.09 | 0.1 | 0.9 | 10.1 | |
| GeMBackbone=VGG-16, Paradigm=top-12023.09 | 0 | 0.6 | 7.1 |