Visual Place Recognition on SF v1 (test)
0.093ECE@1KappaPlace-PT
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| KappaPlace-PTTraining Protocol=Post-Training, Backbone Status=Frozen Backbone2026.05 | 0.093 | — | — | — | 0.163 | 0.182 | |
| KappaPlace-PT2026.05 | 0.093 | — | — | — | 0.112 | 0.243 | |
| KappaPlace-JTTraining Protocol=Joint-Training, Backbone Status=Fine-tuned Backbone2026.05 | 0.097 | 78.9 | 85.5 | 87.9 | 0.154 | 0.174 | |
| KappaPlace-JT2026.05 | 0.097 | — | — | — | 0.078 | 0.21 | |
| SUETraining Protocol=Post-Training, Backbone Status=Frozen Backbone2026.05 | 0.207 | 76 | 83.2 | 85.1 | 0.279 | 0.298 | |
| STUNTraining Protocol=Joint-Training, Backbone Status=Fine-tuned Backbone2026.05 | 0.288 | 75.6 | 84.1 | 86.1 | 0.355 | 0.371 | |
| L2 (Baseline)Training Protocol=Post-Training, Backbone Status=Frozen Backbone2026.05 | 0.421 | 76 | 83.2 | 85.1 | 0.493 | 0.512 | |
| L22026.05 | 0.421 | — | — | — | 0.359 | 0.275 | |
| PA-ScoreTraining Protocol=Post-Training, Backbone Status=Frozen Backbone2026.05 | 0.641 | 76 | 83.2 | 85.1 | 0.713 | 0.732 |