Visual Place Recognition on hk_mapi
76.2Recall@1VPR-AttLLM
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| VPR-AttLLMalpha_LLM=1.0, Backbone=DINOv2, Descriptor=SALAD, Descriptor Dimension=8448D2025.11 | 76.2 | 89.3 | 91.5 | |
| SALADalpha_LLM=0.0, Backbone=DINOv2, Descriptor Dimension=8448D2025.11 | 76.1 | 89.4 | 91.4 | |
| VPR-AttLLMalpha_LLM=0.5, Backbone=DINOv2, Descriptor=SALAD, Descriptor Dimension=8448D2025.11 | 76.1 | 89.4 | 91.5 | |
| Query ExpansionQuery Expansion (QE)=k=5, Backbone=DINOv2, Descriptor=SALAD2025.11 | 71.3 | 86.1 | 87.9 | |
| Query ExpansionQuery Expansion (QE)=k=3, Backbone=DINOv2, Descriptor=SALAD2025.11 | 71.1 | 85.7 | 87.6 | |
| CosPlacealpha_LLM=0.0, Backbone=ResNet50, Descriptor Dimension=512D2025.11 | 67.2 | 81.7 | 85.1 | |
| VPR-AttLLMalpha_LLM=0.5, Backbone=ResNet50, Descriptor=CosPlace, Descriptor Dimension=512D2025.11 | 67.1 | 81.7 | 85.1 | |
| Query ExpansionQuery Expansion (QE)=k=3, Backbone=ResNet50, Descriptor=CosPlace2025.11 | 67.1 | 80.8 | 83.6 | |
| Query ExpansionQuery Expansion (QE)=k=5, Backbone=ResNet50, Descriptor=CosPlace2025.11 | 67 | 80.9 | 83.8 | |
| SALADBackbone=DINOv2, Descriptor Dim=8192+256D, alpha_LLM=0.52025.11 | 66.7 | 79.9 | 83.2 | |
| VPR-AttLLMalpha_LLM=1.0, Backbone=ResNet50, Descriptor=CosPlace, Descriptor Dimension=512D2025.11 | 66.6 | 81.5 | 84.6 | |
| SALADBackbone=DINOv2, Descriptor Dim=8192+256D, alpha_LLM=0.02025.11 | 66.6 | 79.7 | 82.9 | |
| SALADBackbone=DINOv2, Descriptor Dim=8192+256D, alpha_LLM=1.02025.11 | 66.3 | 79.9 | 83.3 | |
| EigenPlacesalpha_LLM=0.0, Backbone=VGG16, Descriptor Dimension=512D2025.11 | 58.8 | 72.9 | 77.6 | |
| VPR-AttLLMalpha_LLM=0.5, Backbone=VGG16, Descriptor=EigenPlaces, Descriptor Dimension=512D2025.11 | 58.3 | 73.7 | 78.2 | |
| Query ExpansionQuery Expansion (QE)=k=5, Backbone=VGG16, Descriptor=EigenPlaces2025.11 | 58.1 | 72.2 | 75.3 | |
| VPR-AttLLMalpha_LLM=1.0, Backbone=VGG16, Descriptor=EigenPlaces, Descriptor Dimension=512D2025.11 | 58 | 73.5 | 78 | |
| Query ExpansionQuery Expansion (QE)=k=3, Backbone=VGG16, Descriptor=EigenPlaces2025.11 | 58 | 72 | 75.5 | |
| SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=1.02025.11 | 54.8 | 70.9 | 75.5 | |
| SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=0.52025.11 | 54.6 | 70.5 | 74.8 | |
| SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=0.0, Query Expansion=k=52025.11 | 53.5 | 70.2 | 73.7 | |
| SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=0.0, Query Expansion=k=32025.11 | 53.4 | 69.5 | 73.5 | |
| SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=0.02025.11 | 53.2 | 70.3 | 75 | |
| EigenPlacesBackbone=ResNet, Descriptor Dim=512D, alpha_LLM=0.52025.11 | 48.6 | 61.4 | 66.4 | |
| EigenPlacesBackbone=ResNet, Descriptor Dim=512D, alpha_LLM=0.02025.11 | 47.8 | 60.3 | 64.7 | |
| EigenPlacesBackbone=ResNet, Descriptor Dim=512D, alpha_LLM=1.02025.11 | 47.3 | 60.4 | 65.6 | |
| CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=0.52025.11 | 45.9 | 59.7 | 64.3 | |
| CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=1.02025.11 | 45.6 | 59.3 | 63.9 | |
| CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=0.0, Query Expansion=k=52025.11 | 44.8 | 57.1 | 61.6 | |
| CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=0.02025.11 | 44.6 | 58.1 | 63.4 | |
| CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=0.0, Query Expansion=k=32025.11 | 44.3 | 57.1 | 60.6 | |
| CosPlaceBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.52025.11 | 37.5 | 50.1 | 54.3 | |
| CosPlaceBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=1.02025.11 | 37.1 | 49.7 | 53.8 | |
| CosPlaceBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.02025.11 | 36.7 | 49.3 | 53.2 | |
| EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=1.02025.11 | 36.4 | 50 | 53.6 | |
| EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.52025.11 | 35.8 | 49.9 | 53.7 | |
| EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.02025.11 | 35.1 | 49 | 52.9 | |
| EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.0, Query Expansion=k=32025.11 | 34.9 | 46.3 | 49.9 | |
| EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.0, Query Expansion=k=52025.11 | 33.7 | 48 | 51.7 |