ResearchBenchmarksVisual Localization on StMarysChurchVisual Localization on StMarysChurchFollow2.918Position Error (Median)Sophia2.905522.989763.0743.15824Dec 31, 2025Evaluation resultsMethodMethodLinksPosition Error (Median)Position Error (Mean)Rotation Error (Median)Rotation Error (Mean)s^ps^qSophia2025.122.9183.312.76815.7170.3883-0.3883OCP-LS2025.123.2263.7317.6839.1480.9022-3.1258AdamW2025.123.233.7279.29612.1210.8414-2.5124