Visual Place Recognition on MSLS
93.7R@1BoQ*
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| BoQ*Backbone=DINOv2, Dim.=8192, Retrained with L_lb=true2026.06 | 93.7 | 96.2 | 96.8 | |
| SALAD*Backbone=DINOv2, Dim.=8448, Retrained with L_lb=true2026.06 | 92.6 | 96.5 | 97 | |
| SALADBackbone=DINOv2, Dim.=8448, Retrained with L_lb=false2026.06 | 91.9 | 96.4 | 96.5 | |
| BoQBackbone=DINOv2, Dim.=8192, Retrained with L_lb=false2026.06 | 91.2 | 95.3 | 96.1 | |
| CosPlace*Backbone=ResNet101, Dim.=128, Retrained with L_lb=true2026.06 | 82.2 | 89.8 | 92.4 | |
| CosPlaceBackbone=ResNet101, Dim.=128, Retrained with L_lb=false2026.06 | 81.7 | 89.7 | 91.6 | |
| CosPlaceDesc. dim.=512, Train set=SF-XL, Backbone=VGG-162022.04 | 79.5 | 87.2 | — | |
| NetVLADDesc. dim.=32768, Train set=MSLS, Backbone=VGG-162022.04 | 75.4 | 84.2 | — | |
| GeMDesc. dim.=512, Train set=MSLS, Backbone=VGG-162022.04 | 66.7 | 78.9 | — | |
| SFRSDesc. dim.=4096, Train set=Pitts30k, Backbone=VGG-162022.04 | 62.8 | 73 | — | |
| SAREDesc. dim.=4096, Train set=Pitts30k, Backbone=VGG-162022.04 | 62.4 | 73.2 | — | |
| NetVLADDesc. dim.=32768, Train set=SF-XL*, Backbone=VGG-162022.04 | 59.3 | 68.7 | — | |
| CRNDesc. dim.=32768, Train set=Pitts30k, Backbone=VGG-162022.04 | 57.6 | 70.4 | — | |
| NetVLADDesc. dim.=32768, Train set=Pitts30k, Backbone=VGG-162022.04 | 54.8 | 66.6 | — | |
| GeMDesc. dim.=512, Train set=Pitts30k, Backbone=VGG-162022.04 | 51.8 | 64.4 | — | |
| NetVLADDesc. dim.=32768, Train set=SF-XL**, Backbone=VGG-162022.04 | 51.4 | 60.7 | — | |
| GeMDesc. dim.=512, Train set=SF-XL*, Backbone=VGG-162022.04 | 46.8 | 58.1 | — |