Visual Place Recognition on sf v1
88.8Recall@1VPR-AttLLM
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| VPR-AttLLMalpha_LLM=0.5, Backbone=DINOv2, Descriptor=SALAD, Descriptor Dimension=8448D2025.11 | 88.8 | 93.4 | 94.4 | |
| VPR-AttLLMalpha_LLM=1.0, Backbone=DINOv2, Descriptor=SALAD, Descriptor Dimension=8448D2025.11 | 88.8 | 93.4 | 94.5 | |
| SALADalpha_LLM=0.0, Backbone=DINOv2, Descriptor Dimension=8448D2025.11 | 88.7 | 93.5 | 94.4 | |
| Query ExpansionQuery Expansion (QE)=k=5, Backbone=DINOv2, Descriptor=SALAD2025.11 | 80.8 | 88.9 | 89.6 | |
| Query ExpansionQuery Expansion (QE)=k=3, Backbone=DINOv2, Descriptor=SALAD2025.11 | 80.7 | 88 | 88.7 | |
| CosPlacealpha_LLM=0.0, Backbone=ResNet50, Descriptor Dimension=512D2025.11 | 78.3 | 84.6 | 86.8 | |
| VPR-AttLLMalpha_LLM=1.0, Backbone=ResNet50, Descriptor=CosPlace, Descriptor Dimension=512D2025.11 | 78.1 | 84.1 | 86.9 | |
| VPR-AttLLMalpha_LLM=0.5, Backbone=ResNet50, Descriptor=CosPlace, Descriptor Dimension=512D2025.11 | 78 | 84.5 | 87 | |
| Query ExpansionQuery Expansion (QE)=k=3, Backbone=ResNet50, Descriptor=CosPlace2025.11 | 77.4 | 83.7 | 85.3 | |
| Query ExpansionQuery Expansion (QE)=k=5, Backbone=ResNet50, Descriptor=CosPlace2025.11 | 77.4 | 84.2 | 85.1 | |
| EigenPlacesalpha_LLM=0.0, Backbone=VGG16, Descriptor Dimension=512D2025.11 | 70.4 | 78.7 | 81.6 | |
| VPR-AttLLMalpha_LLM=0.5, Backbone=VGG16, Descriptor=EigenPlaces, Descriptor Dimension=512D2025.11 | 70.2 | 78.7 | 81.7 | |
| VPR-AttLLMalpha_LLM=1.0, Backbone=VGG16, Descriptor=EigenPlaces, Descriptor Dimension=512D2025.11 | 70.2 | 78.2 | 81.1 | |
| Query ExpansionQuery Expansion (QE)=k=5, Backbone=VGG16, Descriptor=EigenPlaces2025.11 | 70 | 78.6 | 79.6 | |
| Query ExpansionQuery Expansion (QE)=k=3, Backbone=VGG16, Descriptor=EigenPlaces2025.11 | 69.9 | 76.3 | 78.8 | |
| EigenPlacesBackbone=ResNet, Descriptor Dim=512D, alpha_LLM=1.02025.11 | 65.7 | 71.5 | 73.7 | |
| EigenPlacesBackbone=ResNet, Descriptor Dim=512D, alpha_LLM=0.52025.11 | 65.5 | 71.6 | 73.5 | |
| EigenPlacesBackbone=ResNet, Descriptor Dim=512D, alpha_LLM=0.02025.11 | 65 | 71.6 | 73.4 | |
| SALADBackbone=DINOv2, Descriptor Dim=8192+256D, alpha_LLM=1.02025.11 | 64.3 | 71.3 | 74.6 | |
| SALADBackbone=DINOv2, Descriptor Dim=8192+256D, alpha_LLM=0.02025.11 | 64.1 | 71.1 | 74.3 | |
| SALADBackbone=DINOv2, Descriptor Dim=8192+256D, alpha_LLM=0.52025.11 | 64.1 | 71.2 | 74.7 | |
| CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=0.52025.11 | 61.3 | 68.5 | 71.1 | |
| CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=1.02025.11 | 61.1 | 68.5 | 70.7 | |
| CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=0.02025.11 | 60.5 | 68.1 | 70.9 | |
| CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=0.0, Query Expansion=k=32025.11 | 60.3 | 67.1 | 68.5 | |
| CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=0.0, Query Expansion=k=52025.11 | 59.8 | 67.3 | 65.8 | |
| SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=0.52025.11 | 51.7 | 59.5 | 63.4 | |
| SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=1.02025.11 | 51.7 | 59.8 | 63.4 | |
| SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=0.02025.11 | 51.4 | 59.5 | 62.9 | |
| SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=0.0, Query Expansion=k=32025.11 | 50.6 | 58 | 60.4 | |
| SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=0.0, Query Expansion=k=52025.11 | 50.5 | 59 | 61.1 | |
| EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.52025.11 | 47.5 | 54.4 | 57.6 | |
| EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=1.02025.11 | 46.7 | 54.7 | 58.4 | |
| EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.02025.11 | 46.2 | 53.9 | 57.4 | |
| EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.0, Query Expansion=k=32025.11 | 45.8 | 51.9 | 54 | |
| CosPlaceBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=1.02025.11 | 44.8 | 55.2 | 59.4 | |
| CosPlaceBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.52025.11 | 44.7 | 55 | 59.1 | |
| EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.0, Query Expansion=k=52025.11 | 44.5 | 53.5 | 54.9 | |
| CosPlaceBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.02025.11 | 43.4 | 53.8 | 58.3 |