Visual Localization on ScanNet Indoor (test)
83.6AUC @ 0.25m/10ºSuperPoint
Evaluation Results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| SuperPointProtocol=PnP2021.09 | 83.6 | 86.4 | 86.8 | 49.5 | 69.1 | 57.7 | — | — | — | — | — | — | — | |
| Line-Transformers (Ours)Protocol=PnPL, Line Signature Net (LS)=Enabled2021.09 | 79.2 | 83.3 | 83.9 | 49.4 | 68.4 | 57.3 | — | — | — | — | — | — | — | |
| Line-Transformers (w/o LS)Protocol=PnPL, Line Signature Net (LS)=Disabled2021.09 | 76.9 | 81.6 | 82.5 | 42.4 | 62.2 | 50.4 | — | — | — | — | — | — | — | |
| SOLD2Protocol=PnPL2021.09 | 73.5 | 77.9 | 78.6 | 35 | 40.5 | 37.5 | — | — | — | — | — | — | — | |
| WLDProtocol=PnPL2021.09 | 55.9 | 61.6 | 62.4 | 27.9 | 37.3 | 31.9 | — | — | — | — | — | — | — | |
| Line-Transformers (Ours)Protocol=PnL, Line Signature Net (LS)=Enabled2021.09 | 53 | 65 | 66.6 | 49.4 | 68.4 | 57.3 | — | — | — | — | — | — | — | |
| PlanaReLoc (Full proposed)2026.03 | 48.5 | — | — | — | — | — | 17.2 | 3.8 | 0.6 | 0.2 | 73.1 | 81.8 | 0.5 | |
| Line-Transformers (w/o LS)Protocol=PnL, Line Signature Net (LS)=Disabled2021.09 | 47.4 | 59.8 | 61.4 | 42.4 | 62.2 | 50.4 | — | — | — | — | — | — | — | |
| SOLD2Protocol=PnL2021.09 | 46.4 | 57.4 | 59.2 | 35 | 40.5 | 37.5 | — | — | — | — | — | — | — | |
| LBDProtocol=PnPL2021.09 | 38.4 | 45.9 | 46.6 | 10.5 | 31.8 | 15.8 | — | — | — | — | — | — | — | |
| PlanaReLoc (W/o post-refinement)2026.03 | 37.1 | — | — | — | — | — | 17.3 | 3.9 | 0.65 | 0.27 | 69.8 | 79.8 | 0.1 | |
| LLDProtocol=PnPL2021.09 | 35.8 | 41.6 | 42.5 | 8.5 | 31.8 | 13.5 | — | — | — | — | — | — | — | |
| MASt3RCoarse pose initialization=✓, Map appearance=✓2026.03 | 35.4 | — | — | — | — | — | 46 | 12.2 | 1.02 | 0.43 | 49.5 | 57.6 | 0.7 | |
| LoFTRCoarse pose initialization=✓, Map appearance=✓2026.03 | 33.5 | — | — | — | — | — | 44.4 | 14.2 | 0.86 | 0.51 | 46.6 | 58 | 0.4 | |
| WLDProtocol=PnL2021.09 | 28 | 35.4 | 36.1 | 27.9 | 37.3 | 31.9 | — | — | — | — | — | — | — | |
| GeoTransformer-TMap truncation=✓2026.03 | 24.6 | — | — | — | — | — | 45.2 | 26.5 | 1.42 | 1.06 | 38.8 | 42.9 | 0.3 | |
| MatchAnythingCoarse pose initialization=✓2026.03 | 20 | — | — | — | — | — | 35.7 | 19.9 | 1.23 | 0.74 | 35.7 | 52.1 | 0.9 | |
| Plana3RCoarse pose initialization=✓, Map appearance=✓2026.03 | 17.9 | — | — | — | — | — | 26.8 | 12.9 | 0.92 | 0.52 | 37.6 | 57.1 | 0.4 | |
| GeoTransformer2026.03 | 17 | — | — | — | — | — | 53.7 | 42.1 | 1.93 | 1.8 | 26.4 | 29 | 0.4 | |
| LBDProtocol=PnL2021.09 | 15.7 | 19 | 19.3 | 10.5 | 31.8 | 15.8 | — | — | — | — | — | — | — | |
| Free-FreeRegMap truncation=✓2026.03 | 13.7 | — | — | — | — | — | 40.7 | 27.2 | 2.14 | 1.41 | 26.3 | 36.2 | 11.1 | |
| LLDProtocol=PnL2021.09 | 12 | 16.1 | 16.4 | 8.5 | 31.8 | 13.5 | — | — | — | — | — | — | — | |
| SP + LGCoarse pose initialization=✓, Map appearance=✓2026.03 | 11.7 | — | — | — | — | — | 58.9 | 43.3 | 1.38 | 1.19 | 19.5 | 32 | 0.3 | |
| NOPE-SACCoarse pose initialization=✓, Map appearance=✓2026.03 | 3.3 | — | — | — | — | — | 28.7 | 15.9 | 0.9 | 0.77 | 21.2 | 54.6 | 0.4 | |
| FreeRegCoarse pose initialization=✓2026.03 | 0.8 | — | — | — | — | — | 36.9 | 29.4 | 1.06 | 0.96 | 6.4 | 33.1 | 14.2 | |
| Coarse Init.Map truncation=✓2026.03 | 0.4 | — | — | — | — | — | 32.7 | 28.7 | 1 | 0.94 | 5.3 | 33.9 | — |