Visual Place Recognition on SF v2 (test)
17.2ECE@1KappaPlace-PT
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| KappaPlace-PTTraining Protocol=Post-Training, Backbone Status=Frozen Backbone2026.05 | 17.2 | — | — | — | 23.1 | 25.1 | |
| KappaPlace-PT2026.05 | 17.2 | — | — | — | 13.3 | 9.5 | |
| KappaPlace-JTTraining Protocol=Joint-Training, Backbone Status=Fine-tuned Backbone2026.05 | 22 | 91.3 | 95.8 | 97 | 26.2 | 27 | |
| KappaPlace-JT2026.05 | 22 | — | — | — | 15.5 | 10.4 | |
| SUETraining Protocol=Post-Training, Backbone Status=Frozen Backbone2026.05 | 27.5 | 88.5 | 94.6 | 96.7 | 33.1 | 35.1 | |
| STUNTraining Protocol=Joint-Training, Backbone Status=Fine-tuned Backbone2026.05 | 35 | 86.8 | 93.5 | 95.3 | 41.7 | 43.2 | |
| L2 (Baseline)Training Protocol=Post-Training, Backbone Status=Frozen Backbone2026.05 | 39.1 | 88.5 | 94.6 | 96.7 | 45.3 | 47.3 | |
| L22026.05 | 39.1 | — | — | — | 41.8 | 39.2 | |
| PA-ScoreTraining Protocol=Post-Training, Backbone Status=Frozen Backbone2026.05 | 74.2 | 88.5 | 94.6 | 96.7 | 80.4 | 82.4 |