Visual Localization on The Extended CMU Seasons (test)
92Average RecallILP (query)
Evaluation results
| Method | Links | |
|---|---|---|
| ILP (query)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=202022.03 | 92 | |
| GATConv (ours)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=202022.03 | 86 | |
| GraphConvRecall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=202022.03 | 85 | |
| ILP (query)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=202022.03 | 85 | |
| ILP (query)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=102022.03 | 83 | |
| GATConv (ours)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=102022.03 | 80 | |
| ILP (query)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=202022.03 | 80 | |
| SAGEConvRecall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=202022.03 | 79 | |
| GATConv (ours)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=202022.03 | 78 | |
| GraphConvRecall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=202022.03 | 77 | |
| GATConv (LBCE only)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=202022.03 | 77 | |
| ILP (map)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=202022.03 | 76 | |
| GraphConvRecall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=102022.03 | 76 | |
| ILP (query)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=102022.03 | 75 | |
| GraphConvRecall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=202022.03 | 73 | |
| GATConv (ours)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=202022.03 | 73 | |
| SAGEConvRecall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=202022.03 | 72 | |
| GATConv (ours)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=102022.03 | 72 | |
| GATConv (LKC only)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=202022.03 | 71 | |
| RandomRecall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=202022.03 | 70 | |
| GATConv (LBCE only)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=202022.03 | 70 | |
| ILP (map)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=202022.03 | 69 | |
| GraphConvRecall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=102022.03 | 69 | |
| ILP (query)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=102022.03 | 69 | |
| SAGEConvRecall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=202022.03 | 68 | |
| SAGEConvRecall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=102022.03 | 68 | |
| GATConv (ours)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=102022.03 | 67 | |
| ILP (map)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=102022.03 | 66 | |
| GATConv (LBCE only)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=202022.03 | 65 | |
| ILP (map)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=202022.03 | 64 | |
| GraphConvRecall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=102022.03 | 64 | |
| GATConv (ours)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=52022.03 | 64 | |
| GATConv (LBCE only)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=102022.03 | 64 | |
| GATConv (LKC only)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=202022.03 | 64 | |
| RandomRecall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=202022.03 | 63 | |
| SAGEConvRecall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=102022.03 | 62 | |
| GATConv (LKC only)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=202022.03 | 60 | |
| ILP (query)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=52022.03 | 60 | |
| RandomRecall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=202022.03 | 59 | |
| ILP (map)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=102022.03 | 59 | |
| GraphConvRecall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=52022.03 | 58 | |
| SAGEConvRecall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=102022.03 | 58 | |
| GATConv (ours)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=52022.03 | 57 | |
| GATConv (LBCE only)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=102022.03 | 57 | |
| ILP (map)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=102022.03 | 53 | |
| GATConv (LBCE only)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=102022.03 | 53 | |
| ILP (query)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=52022.03 | 53 | |
| GraphConvRecall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=52022.03 | 52 | |
| GATConv (ours)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=52022.03 | 52 | |
| GATConv (LKC only)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=102022.03 | 52 | |
| SAGEConvRecall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=52022.03 | 51 | |
| RandomRecall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=102022.03 | 49 | |
| GraphConvRecall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=52022.03 | 48 | |
| GATConv (LBCE only)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=52022.03 | 47 | |
| SAGEConvRecall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=52022.03 | 46 | |
| GATConv (ours)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=32022.03 | 46 | |
| ILP (query)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=52022.03 | 46 | |
| GATConv (LKC only)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=102022.03 | 45 | |
| RandomRecall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=102022.03 | 44 | |
| ILP (map)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=52022.03 | 43 | |
| SAGEConvRecall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=52022.03 | 42 | |
| GATConv (LBCE only)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=52022.03 | 42 | |
| GATConv (LKC only)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=102022.03 | 42 | |
| RandomRecall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=102022.03 | 41 | |
| GATConv (ours)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=32022.03 | 40 | |
| GraphConvRecall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=32022.03 | 39 | |
| GATConv (LBCE only)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=52022.03 | 38 | |
| ILP (query)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=32022.03 | 38 | |
| ILP (map)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=52022.03 | 36 | |
| GATConv (ours)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=32022.03 | 35 | |
| GraphConvRecall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=32022.03 | 34 | |
| SAGEConvRecall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=32022.03 | 34 | |
| GATConv (LBCE only)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=32022.03 | 32 | |
| ILP (map)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=52022.03 | 31 | |
| GraphConvRecall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=32022.03 | 31 | |
| SAGEConvRecall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=32022.03 | 30 | |
| ILP (query)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=32022.03 | 30 | |
| GATConv (LKC only)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=52022.03 | 29 | |
| GATConv (LBCE only)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=32022.03 | 28 | |
| SAGEConvRecall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=32022.03 | 27 | |
| ILP (map)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=32022.03 | 25 | |
| GATConv (LBCE only)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=32022.03 | 25 | |
| GATConv (LKC only)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=52022.03 | 25 | |
| ILP (query)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=32022.03 | 24 | |
| RandomRecall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=52022.03 | 23 | |
| GATConv (LKC only)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=52022.03 | 23 | |
| RandomRecall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=52022.03 | 20 | |
| ILP (map)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=32022.03 | 19 | |
| RandomRecall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=52022.03 | 18 | |
| ILP (map)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=32022.03 | 15 | |
| GATConv (LKC only)Recall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=32022.03 | 12 | |
| GATConv (LKC only)Recall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=32022.03 | 10 | |
| RandomRecall threshold=5.0m, 10.0°, Avg. map size (10^4 #kpts)=32022.03 | 9 | |
| GATConv (LKC only)Recall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=32022.03 | 9 | |
| RandomRecall threshold=0.25m, 2.0°, Avg. map size (10^4 #kpts)=32022.03 | 7 | |
| RandomRecall threshold=0.5m, 5.0°, Avg. map size (10^4 #kpts)=32022.03 | 7 |