Visual Place Recognition on Oxford RobotCar (Dusk)
98.5Recall@1DisPlace
Evaluation Results
| Method | Links | |
|---|---|---|
| DisPlaceDescriptor=SALAD, Descriptor Dimension=8448D, Fusion Type=Descriptor-level2026.05 | 98.5 | |
| dMat. Avg.Descriptor=SALAD, Descriptor Dimension=8448D, Fusion Type=Score-level2026.05 | 98.1 | |
| HOPSDescriptor=SALAD, Descriptor Dimension=8448D, Fusion Type=Descriptor-level2026.05 | 98.1 | |
| DisPlaceDescriptor=MixVPR, Descriptor Dimension=4096D, Fusion Type=Descriptor-level2026.05 | 97.4 | |
| dMat. Med.Descriptor=SALAD, Descriptor Dimension=8448D, Fusion Type=Score-level2026.05 | 97.3 | |
| DisPlaceDescriptor=MegaLoc, Descriptor Dimension=8448D, Fusion Type=Descriptor-level2026.05 | 97.3 | |
| Std. dMat. Min.Descriptor=SALAD, Descriptor Dimension=8448D, Fusion Type=Score-level2026.05 | 96.9 | |
| BSFDescriptor=SALAD, Descriptor Dimension=8448D, Fusion Type=Score-level2026.05 | 96.8 | |
| dMat. Min.Descriptor=SALAD, Descriptor Dimension=8448D, Fusion Type=Score-level2026.05 | 96.5 | |
| PoolingDescriptor=SALAD, Descriptor Dimension=8448D, Fusion Type=Descriptor-level2026.05 | 96.5 | |
| HOPSDescriptor=MegaLoc, Descriptor Dimension=8448D, Fusion Type=Descriptor-level2026.05 | 95.9 | |
| dMat. Avg.Descriptor=MegaLoc, Descriptor Dimension=8448D, Fusion Type=Score-level2026.05 | 95.6 | |
| dMat. Avg.Descriptor=MixVPR, Descriptor Dimension=4096D, Fusion Type=Score-level2026.05 | 95 | |
| SALADDescriptor Dimension=8448D, Reference Condition=Overcast22026.05 | 94.8 | |
| SALADDescriptor Dimension=8448D, Reference Condition=Overcast2026.05 | 94.5 | |
| BSFDescriptor=MegaLoc, Descriptor Dimension=8448D, Fusion Type=Score-level2026.05 | 94.3 | |
| HOPSDescriptor=MixVPR, Descriptor Dimension=4096D, Fusion Type=Descriptor-level2026.05 | 94 | |
| SALADDescriptor Dimension=8448D, Reference Condition=Rain2026.05 | 94 | |
| dMat. Min.Descriptor=MegaLoc, Descriptor Dimension=8448D, Fusion Type=Score-level2026.05 | 94 | |
| PoolingDescriptor=MegaLoc, Descriptor Dimension=8448D, Fusion Type=Descriptor-level2026.05 | 94 | |
| SALADDescriptor Dimension=8448D, Reference Condition=Sun2026.05 | 93.7 | |
| BSFDescriptor=MixVPR, Descriptor Dimension=4096D, Fusion Type=Score-level2026.05 | 93.5 | |
| Std. dMat. Min.Descriptor=MegaLoc, Descriptor Dimension=8448D, Fusion Type=Score-level2026.05 | 93.3 | |
| dMat. Min.Descriptor=MixVPR, Descriptor Dimension=4096D, Fusion Type=Score-level2026.05 | 93 | |
| PoolingDescriptor=MixVPR, Descriptor Dimension=4096D, Fusion Type=Descriptor-level2026.05 | 93 | |
| dMat. Med.Descriptor=MegaLoc, Descriptor Dimension=8448D, Fusion Type=Score-level2026.05 | 92.6 | |
| SALADDescriptor Dimension=8448D, Reference Condition=Night2026.05 | 92.4 | |
| dMat. Med.Descriptor=MixVPR, Descriptor Dimension=4096D, Fusion Type=Score-level2026.05 | 91.8 | |
| MegaLocDescriptor Dimension=8448D, Reference Condition=Rain2026.05 | 91.6 | |
| Std. dMat. Min.Descriptor=MixVPR, Descriptor Dimension=4096D, Fusion Type=Score-level2026.05 | 90.7 | |
| MixVPRDescriptor Dimension=4096D, Reference Condition=Overcast2026.05 | 89.7 | |
| MegaLocDescriptor Dimension=8448D, Reference Condition=Overcast22026.05 | 88.8 | |
| MegaLocDescriptor Dimension=8448D, Reference Condition=Sun2026.05 | 88.6 | |
| MegaLocDescriptor Dimension=8448D, Reference Condition=Overcast2026.05 | 87.9 | |
| MegaLocDescriptor Dimension=8448D, Reference Condition=Night2026.05 | 86.9 | |
| MixVPRDescriptor Dimension=4096D, Reference Condition=Sun2026.05 | 86.6 | |
| MixVPRDescriptor Dimension=4096D, Reference Condition=Overcast22026.05 | 86 | |
| DisPlaceDescriptor=CosPlace, Descriptor Dimension=512D, Fusion Type=Descriptor-level2026.05 | 85.7 | |
| MixVPRDescriptor Dimension=4096D, Reference Condition=Night2026.05 | 85.6 | |
| MixVPRDescriptor Dimension=4096D, Reference Condition=Rain2026.05 | 85.5 | |
| DisPlaceDescriptor=EigenPlaces, Descriptor Dimension=512D, Fusion Type=Descriptor-level2026.05 | 82.6 | |
| DisPlaceDescriptor=NetVLAD, Descriptor Dimension=4096D, Fusion Type=Descriptor-level2026.05 | 81.3 | |
| BSFDescriptor=CosPlace, Descriptor Dimension=512D, Fusion Type=Score-level2026.05 | 77.7 | |
| dMat. Min.Descriptor=CosPlace, Descriptor Dimension=512D, Fusion Type=Score-level2026.05 | 77.5 | |
| PoolingDescriptor=CosPlace, Descriptor Dimension=512D, Fusion Type=Descriptor-level2026.05 | 77.5 | |
| dMat. Avg.Descriptor=EigenPlaces, Descriptor Dimension=512D, Fusion Type=Score-level2026.05 | 75.1 | |
| dMat. Avg.Descriptor=CosPlace, Descriptor Dimension=512D, Fusion Type=Score-level2026.05 | 74.8 | |
| HOPSDescriptor=CosPlace, Descriptor Dimension=512D, Fusion Type=Descriptor-level2026.05 | 74.7 | |
| BSFDescriptor=EigenPlaces, Descriptor Dimension=512D, Fusion Type=Score-level2026.05 | 74.7 | |
| dMat. Min.Descriptor=EigenPlaces, Descriptor Dimension=512D, Fusion Type=Score-level2026.05 | 74.3 | |
| PoolingDescriptor=EigenPlaces, Descriptor Dimension=512D, Fusion Type=Descriptor-level2026.05 | 74.3 | |
| HOPSDescriptor=EigenPlaces, Descriptor Dimension=512D, Fusion Type=Descriptor-level2026.05 | 73 | |
| Std. dMat. Min.Descriptor=CosPlace, Descriptor Dimension=512D, Fusion Type=Score-level2026.05 | 72.3 | |
| Std. dMat. Min.Descriptor=EigenPlaces, Descriptor Dimension=512D, Fusion Type=Score-level2026.05 | 70.9 | |
| dMat. Med.Descriptor=CosPlace, Descriptor Dimension=512D, Fusion Type=Score-level2026.05 | 70.1 | |
| dMat. Med.Descriptor=EigenPlaces, Descriptor Dimension=512D, Fusion Type=Score-level2026.05 | 69.2 | |
| CosPlaceDescriptor Dimension=512D, Reference Condition=Night2026.05 | 68.5 | |
| CosPlaceDescriptor Dimension=512D, Reference Condition=Overcast2026.05 | 67.8 | |
| EigenPlacesDescriptor Dimension=512D, Reference Condition=Overcast2026.05 | 67.7 | |
| dMat. Avg.Descriptor=NetVLAD, Descriptor Dimension=4096D, Fusion Type=Score-level2026.05 | 67.2 | |
| HOPSDescriptor=NetVLAD, Descriptor Dimension=4096D, Fusion Type=Descriptor-level2026.05 | 67.2 | |
| CosPlaceDescriptor Dimension=512D, Reference Condition=Overcast22026.05 | 66.8 | |
| EigenPlacesDescriptor Dimension=512D, Reference Condition=Night2026.05 | 66.2 | |
| CosPlaceDescriptor Dimension=512D, Reference Condition=Rain2026.05 | 65 | |
| EigenPlacesDescriptor Dimension=512D, Reference Condition=Overcast22026.05 | 64.8 | |
| CosPlaceDescriptor Dimension=512D, Reference Condition=Sun2026.05 | 64.7 | |
| EigenPlacesDescriptor Dimension=512D, Reference Condition=Rain2026.05 | 64.3 | |
| EigenPlacesDescriptor Dimension=512D, Reference Condition=Sun2026.05 | 63 | |
| BSFDescriptor=NetVLAD, Descriptor Dimension=4096D, Fusion Type=Score-level2026.05 | 58.4 | |
| Std. dMat. Min.Descriptor=NetVLAD, Descriptor Dimension=4096D, Fusion Type=Score-level2026.05 | 57.3 | |
| dMat. Med.Descriptor=NetVLAD, Descriptor Dimension=4096D, Fusion Type=Score-level2026.05 | 57 | |
| dMat. Min.Descriptor=NetVLAD, Descriptor Dimension=4096D, Fusion Type=Score-level2026.05 | 54.3 | |
| PoolingDescriptor=NetVLAD, Descriptor Dimension=4096D, Fusion Type=Descriptor-level2026.05 | 54.3 | |
| NetVLADDescriptor Dimension=4096D, Reference Condition=Overcast2026.05 | 47.7 | |
| NetVLADDescriptor Dimension=4096D, Reference Condition=Rain2026.05 | 44.1 | |
| NetVLADDescriptor Dimension=4096D, Reference Condition=Night2026.05 | 41.8 | |
| NetVLADDescriptor Dimension=4096D, Reference Condition=Overcast22026.05 | 41.5 | |
| NetVLADDescriptor Dimension=4096D, Reference Condition=Sun2026.05 | 38.4 |