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ResearchFormerly WizWand

Visual Place Recognition on sf v1

88.8Recall@1VPR-AttLLM
41.58453.84266.178.358Nov 25, 2025
Updated 6mo ago

Evaluation results

MethodLinks
VPR-AttLLMalpha_LLM=0.5, Backbone=DINOv2, Descriptor=SALAD, Descriptor Dimension=8448D2025.1188.893.494.4
VPR-AttLLMalpha_LLM=1.0, Backbone=DINOv2, Descriptor=SALAD, Descriptor Dimension=8448D2025.1188.893.494.5
SALADalpha_LLM=0.0, Backbone=DINOv2, Descriptor Dimension=8448D2025.1188.793.594.4
Query ExpansionQuery Expansion (QE)=k=5, Backbone=DINOv2, Descriptor=SALAD2025.1180.888.989.6
Query ExpansionQuery Expansion (QE)=k=3, Backbone=DINOv2, Descriptor=SALAD2025.1180.78888.7
CosPlacealpha_LLM=0.0, Backbone=ResNet50, Descriptor Dimension=512D2025.1178.384.686.8
VPR-AttLLMalpha_LLM=1.0, Backbone=ResNet50, Descriptor=CosPlace, Descriptor Dimension=512D2025.1178.184.186.9
VPR-AttLLMalpha_LLM=0.5, Backbone=ResNet50, Descriptor=CosPlace, Descriptor Dimension=512D2025.117884.587
Query ExpansionQuery Expansion (QE)=k=3, Backbone=ResNet50, Descriptor=CosPlace2025.1177.483.785.3
Query ExpansionQuery Expansion (QE)=k=5, Backbone=ResNet50, Descriptor=CosPlace2025.1177.484.285.1
EigenPlacesalpha_LLM=0.0, Backbone=VGG16, Descriptor Dimension=512D2025.1170.478.781.6
VPR-AttLLMalpha_LLM=0.5, Backbone=VGG16, Descriptor=EigenPlaces, Descriptor Dimension=512D2025.1170.278.781.7
VPR-AttLLMalpha_LLM=1.0, Backbone=VGG16, Descriptor=EigenPlaces, Descriptor Dimension=512D2025.1170.278.281.1
Query ExpansionQuery Expansion (QE)=k=5, Backbone=VGG16, Descriptor=EigenPlaces2025.117078.679.6
Query ExpansionQuery Expansion (QE)=k=3, Backbone=VGG16, Descriptor=EigenPlaces2025.1169.976.378.8
EigenPlacesBackbone=ResNet, Descriptor Dim=512D, alpha_LLM=1.02025.1165.771.573.7
EigenPlacesBackbone=ResNet, Descriptor Dim=512D, alpha_LLM=0.52025.1165.571.673.5
EigenPlacesBackbone=ResNet, Descriptor Dim=512D, alpha_LLM=0.02025.116571.673.4
SALADBackbone=DINOv2, Descriptor Dim=8192+256D, alpha_LLM=1.02025.1164.371.374.6
SALADBackbone=DINOv2, Descriptor Dim=8192+256D, alpha_LLM=0.02025.1164.171.174.3
SALADBackbone=DINOv2, Descriptor Dim=8192+256D, alpha_LLM=0.52025.1164.171.274.7
CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=0.52025.1161.368.571.1
CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=1.02025.1161.168.570.7
CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=0.02025.1160.568.170.9
CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=0.0, Query Expansion=k=32025.1160.367.168.5
CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=0.0, Query Expansion=k=52025.1159.867.365.8
SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=0.52025.1151.759.563.4
SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=1.02025.1151.759.863.4
SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=0.02025.1151.459.562.9
SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=0.0, Query Expansion=k=32025.1150.65860.4
SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=0.0, Query Expansion=k=52025.1150.55961.1
EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.52025.1147.554.457.6
EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=1.02025.1146.754.758.4
EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.02025.1146.253.957.4
EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.0, Query Expansion=k=32025.1145.851.954
CosPlaceBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=1.02025.1144.855.259.4
CosPlaceBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.52025.1144.75559.1
EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.0, Query Expansion=k=52025.1144.553.554.9
CosPlaceBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.02025.1143.453.858.3