Visual Place Recognition on Nordland (R@1, R@5, R@10)
97.63Recall@1Adapt-STformer
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Adapt-STformerDescriptor Dimension=24576, Backbone=CCT384, Mem (MB)=180.39, Time (s)=0.01782025.10 | 97.63 | 99.43 | 99.47 | |
| STformer pcDescriptor Dimension=4096 (PCA), Backbone=CCT384, Mem (MB)=276.55, Time (s)=0.02772025.10 | 97 | 99.47 | 99.5 | |
| STformer pcDescriptor Dimension=24576, Backbone=CCT384, Mem (MB)=276.55, Time (s)=0.02772025.10 | 96.97 | 99.47 | 99.5 | |
| STformer pcDescriptor Dimension=512 (PCA), Backbone=CCT384, Mem (MB)=276.55, Time (s)=0.02772025.10 | 96.37 | 99.33 | 99.5 | |
| Adapt-STformerDescriptor Dimension=4096 (PCA), Backbone=CCT384, Mem (MB)=180.39, Time (s)=0.01782025.10 | 96.1 | 99.23 | 99.37 | |
| FoL++Res=322, Two-stage=true2026.04 | 96.1 | 98.6 | 99.2 | |
| SeqvladDescriptor Dimension=24576, Backbone=CCT384, Mem (MB)=177.66, Time (s)=0.01812025.10 | 96.03 | 99.47 | 99.47 | |
| SAGEDim=8448, Two-stage processing=false2025.09 | 96 | 98.9 | 99.4 | |
| SAGE2025.09 | 96 | 98.9 | 99.4 | |
| SALAD-CMRes=322, Two-stage=false2026.04 | 96 | 98.5 | 99.2 | |
| SeqvladDescriptor Dimension=4096 (PCA), Backbone=CCT384, Mem (MB)=177.66, Time (s)=0.01812025.10 | 95.67 | 99.47 | 99.47 | |
| SeqvladDescriptor Dimension=512 (PCA), Backbone=CCT384, Mem (MB)=177.66, Time (s)=0.01812025.10 | 95.67 | 99.47 | 99.47 | |
| SALAD-CMDim=8448, Two-stage processing=false2025.09 | 95.6 | 98.6 | 99.1 | |
| EffoVPRTwo-stage reranking=true2025.09 | 95 | — | — | |
| Adapt-STformerDescriptor Dimension=512 (PCA), Backbone=CCT384, Mem (MB)=180.39, Time (s)=0.01782025.10 | 94.9 | 99 | 99.43 | |
| SAGEDim=4096, Two-stage processing=false2025.09 | 94.4 | 98.2 | 99 | |
| MegaLocRes=322, Two-stage=false2026.04 | 94.2 | 97.9 | 98.6 | |
| SAGERes=322, Two-stage=false2026.04 | 94.1 | 98 | 98.8 | |
| ImAgeRes=322, Two-stage=false2026.04 | 93.2 | 97.6 | 98.6 | |
| DC-VLAQVenue & Year=-2026.01 | 92.8 | 97.2 | 98.2 | |
| FoLDim=N/A, Two-stage processing=true2025.09 | 92.6 | 96.7 | 97.8 | |
| FoL++ (global)Res=322, Two-stage=false2026.04 | 91.8 | 96.9 | 98.1 | |
| SAGEDim=2048, Two-stage processing=false2025.09 | 91.2 | 96.6 | 97.8 | |
| Pair-VPR-pEnc. Size=ViT-G2024.10 | 91 | 95.2 | 95.7 | |
| SuperVLADDim=3072, Two-stage processing=false2025.09 | 91 | 96.4 | 97.7 | |
| SuperVLADRes=322, Two-stage=false2026.04 | 91 | 96.4 | 97.7 | |
| CricaVPRDescriptor Dimension=4096-dim2024.02 | 90.7 | 96.3 | 97.6 | |
| CricaVPRVenue & Year=CVPR’242026.01 | 90.7 | 96.3 | 97.6 | |
| SALAD-CMVenue & Year=ECCV’242026.01 | 90.7 | 96.6 | 97.5 | |
| CricaVPRDim=4096, Two-stage processing=false2025.09 | 90.7 | 96.3 | 97.6 | |
| SALAD-CMRes=322, Two-stage=false2026.04 | 90.7 | 96.6 | 97.5 | |
| BoQVenue & Year=CVPR’242026.01 | 90.6 | 96 | 97.5 | |
| BoQDim=12288, Two-stage processing=false2025.09 | 90.6 | 96 | 97.5 | |
| BoQRes=322, Two-stage=false2026.04 | 90.6 | 96 | 97.5 | |
| SALADVenue & Year=CVPR’242026.01 | 89.7 | 95.5 | 97 | |
| SALADDim=8448, Two-stage processing=false2025.09 | 89.7 | 95.5 | 97 | |
| SALADRes=322, Two-stage=false2026.04 | 89.7 | 95.5 | 97 | |
| FoL++Res=322, Two-stage=true2026.04 | 89.7 | 96.7 | 97.8 | |
| EMVPDim=8448, Two-stage processing=false2025.09 | 88.7 | 97.3 | 99.3 | |
| EDTFormerVenue & Year=TCSVT’252026.01 | 88.3 | 95.3 | 97 | |
| EDTformerDim=4096, Two-stage processing=false2025.09 | 88.3 | 95.3 | 97 | |
| EDTFormer2025.09 | 88.3 | 95.3 | 97 | |
| EDTFormerRes=322, Two-stage=false2026.04 | 88.3 | 95.3 | 97 | |
| MegaLocRes=322, Two-stage=false2026.04 | 88.1 | 95.6 | 97 | |
| FoLRes=322, Two-stage=true2026.04 | 87.9 | 94.8 | 96.6 | |
| FoL-globalVenue & Year=AAAI’252026.01 | 87.8 | — | — | |
| FoLDim=8448, Two-stage processing=false2025.09 | 87.8 | 94.5 | 96.4 | |
| SelaVPRVenue & Year=ICLR’242026.01 | 87.3 | 93.8 | 95.6 | |
| SelaVPRDim=N/A, Two-stage processing=true2025.09 | 87.3 | 93.8 | 95.6 | |
| SelaVPRRes=322, Two-stage=true2026.04 | 87.3 | 93.8 | 95.6 | |
| SAGERes=322, Two-stage=false2026.04 | 86.7 | 95.9 | 97 | |
| VLAD-BuFF2025.09 | 85.1 | 93.8 | 96 | |
| ImAgeRes=322, Two-stage=false2026.04 | 84.6 | 95.1 | 97 | |
| FoL++ (global)Res=322, Two-stage=false2026.04 | 84.5 | 94.4 | 96.3 | |
| Pair-VPR-sEnc. Size=ViT-B2024.10 | 84.2 | 90.9 | 91.6 | |
| FoL (global)Res=322, Two-stage=false2026.04 | 83.8 | 92.6 | 95.1 | |
| BoQ*Backbone=DINOv2, Dim.=8192, Retrained with L_lb=true2026.06 | 83.7 | 94.6 | 96.5 | |
| JIST pcDescriptor Dimension=512 (PCA), Backbone=ResNet, Mem (MB)=159.65, Time (s)=0.00532025.10 | 82.1 | 92 | 94.5 | |
| BoQRes=322, Two-stage=false2026.04 | 81.3 | 92.5 | 94.8 | |
| BoQBackbone=DINOv2, Dim.=8192, Retrained with L_lb=false2026.06 | 81.3 | 92.5 | 94.8 | |
| FoLRes=322, Two-stage=true2026.04 | 80.8 | 92 | 94.7 | |
| SeqnetDescriptor Dimension=4096 (PCA), Backbone=NetVLAD, Mem (MB)=676.09, Time (s)=0.00142025.10 | 79.43 | 90.13 | 93.17 | |
| R2FormerDim=N/A, Two-stage processing=true2025.09 | 77 | 89 | 91.9 | |
| SALAD*Backbone=DINOv2, Dim.=8448, Retrained with L_lb=true2026.06 | 76.6 | 89.6 | 92.9 | |
| MixVPR2024.02 | 76.2 | 86.9 | 90.3 | |
| MixVPRVenue & Year=WACV’232026.01 | 76.2 | 86.9 | 90.3 | |
| UniPR-3DDesc. size=17152, Latency (ms)=8.232025.12 | 76.2 | 87.3 | — | |
| MixVPRDim=4096, Two-stage processing=false2025.09 | 76.2 | 86.9 | 90.3 | |
| MixVPRRes=322, Two-stage=false2026.04 | 76.2 | 86.9 | 90.3 | |
| DINOv2 SALADDesc. size=8192 + 256, Latency (ms)=2.412023.11 | 76 | 89.2 | — | |
| SALADEnc. Size=ViT-B2024.10 | 76 | 89.2 | 92 | |
| SALADRes=322, Two-stage=false2026.04 | 76 | 89.2 | 92 | |
| SALADBackbone=DINOv2, Dim.=8448, Retrained with L_lb=false2026.06 | 76 | 89.2 | 92 | |
| SuperVLADRes=322, Two-stage=false2026.04 | 75.1 | 89.5 | 93 | |
| AsymVPRQuery Network=EfficientViT-B2, Gallery Model Training Configuration=BoQ (DINOv2-B), Retrieval Protocol=Asymmetric2025.12 | 74.6 | 88.3 | — | |
| FoL (global)Res=322, Two-stage=false2026.04 | 74.1 | 88.8 | 92.2 | |
| EDTFormerRes=322, Two-stage=false2026.04 | 73.1 | 86.7 | 90.1 | |
| SelaVPRDim=1024, Two-stage processing=false2025.09 | 72.3 | 89.4 | 94.4 | |
| SelaVPRRes=322, Two-stage=false2026.04 | 72.3 | 89.4 | 94.4 | |
| EigenPlaces2024.02 | 71.2 | 83.8 | 88.1 | |
| EigenPlacesVenue & Year=ICCV’232026.01 | 71.2 | 83.8 | 88.1 | |
| EigenPlacesDim=2048, Two-stage processing=false2025.09 | 71.2 | 83.8 | 88.1 | |
| EigenPlacesRes=322, Two-stage=false2026.04 | 71.2 | 83.8 | 88.1 | |
| BoQ (Ours)Dim.=16384, Backbone=ResNet-50, Training Dataset=GSV-Cities2024.05 | 70.7 | 84 | 87.5 | |
| BoQEnc. Size=ResNet-502024.10 | 70.7 | 84 | 87.5 | |
| DINOv2 SALADDesc. size=2048 + 64, Latency (ms)=2.352023.11 | 70.4 | 85.7 | — | |
| DINOv2 SALADDesc. size=8192 + 256, Latency (ms)=2.412025.12 | 69.6 | 84.4 | — | |
| BoQ (Ours)Dim.=4096, Backbone=ResNet-50, Training Dataset=GSV-Cities2024.05 | 69.5 | 83.4 | 87 | |
| AsymVPRQuery Network=MobileViTv2, Gallery Model Training Configuration=BoQ (DINOv2-B), Retrieval Protocol=Asymmetric2025.12 | 67.8 | 82.8 | — | |
| SelaVPREnc. Size=ViT-L2024.10 | 66.2 | 79.8 | 84.1 | |
| TransVPRVenue & Year=CVPR’222026.01 | 63.5 | 68.5 | 70.2 | |
| TransVPRRes=322, Two-stage=true2026.04 | 63.5 | 68.5 | 70.2 | |
| SelaVPRRes=322, Two-stage=true2026.04 | 63 | 77.6 | 81.4 | |
| AsymVPRQuery Network=EfficientViT-B2, Gallery Model Training Configuration=SALAD (DINOv2-B), Retrieval Protocol=Asymmetric2025.12 | 61.7 | 77.6 | — | |
| DINOv2 SALADDesc. size=512 + 32, Latency (ms)=2.332023.11 | 61.2 | 78.9 | — | |
| CosPlace2024.02 | 58.5 | 73.7 | 79.4 | |
| CosPlaceVenue & Year=CVPR’222026.01 | 58.5 | 73.7 | 79.4 | |
| CosPlaceDim=512, Two-stage processing=false2025.09 | 58.5 | 73.7 | 79.4 | |
| CosPlaceRes=322, Two-stage=false2026.04 | 58.5 | 73.7 | 79.4 | |
| MixVPRdim=4096, backbone=ResNet-502023.03 | 58.4 | 74.6 | 80 |