Visual Place Recognition on XHZ
97.3R@1MutualVPR
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| MutualVPRMode=tra, Layer=layer 32026.06 | 97.3 | 100 | 1.519 | 0.242 | |
| CosPlaceMode=tra, Layer=layer 32026.06 | 91.8 | 98.6 | 4.416 | 0.275 | |
| MutualVPRMode=tra, Layer=layer 12026.06 | 90.9 | 99 | 0.77 | 0.189 | |
| MutualVPRMode=tra, Layer=layer 02026.06 | 88.4 | 97.8 | 1.541 | 0.295 | |
| MutualVPRMode=tra, Layer=layer 22026.06 | 87.6 | 95.2 | 2.211 | 0.285 | |
| SALADMode=tra, Layer=layer 32026.06 | 82.2 | 97.3 | 0.274 | 0.242 | |
| SALADMode=tra, Layer=layer 02026.06 | 80 | 92.4 | 0.451 | 0.344 | |
| CosPlaceMode=tra, Layer=layer 22026.06 | 78.1 | 93.3 | 0.39 | 0.326 | |
| SALADMode=tra, Layer=layer 12026.06 | 77.8 | 98 | 0.391 | 0.241 | |
| MixVPRMode=tra, Layer=layer 32026.06 | 74 | 93.2 | 3.836 | 0.381 | |
| MixVPRMode=tra, Layer=layer 02026.06 | 73.8 | 88.9 | 0.606 | 0.4 | |
| CosPlaceMode=tra, Layer=layer 12026.06 | 72.7 | 93.9 | 4.468 | 0.628 | |
| EigenPlacesMode=pre, Layer=layer 02026.06 | 70.2 | 84 | 0.899 | 0.524 | |
| CosPlaceMode=tra, Layer=layer 02026.06 | 69.8 | 91.6 | 1.07 | 0.568 | |
| SALADMode=tra, Layer=layer 22026.06 | 69.5 | 94.3 | 0.556 | 0.364 | |
| EigenPlacesMode=tra, Layer=layer 02026.06 | 68.9 | 85.3 | 0.801 | 0.477 | |
| MixVPRMode=tra, Layer=layer 22026.06 | 65.7 | 92.4 | 0.435 | 0.322 | |
| BoQMode=pre, Layer=layer 32026.06 | 61.6 | 82.2 | 1.887 | 0.456 | |
| EigenPlacesMode=tra, Layer=layer 32026.06 | 61.6 | 74 | 4.739 | 0.5 | |
| MixVPRMode=tra, Layer=layer 12026.06 | 61.6 | 94.9 | 4.396 | 1.019 | |
| BoQMode=tra, Layer=layer 32026.06 | 60.3 | 82.2 | 1.832 | 0.437 | |
| EigenPlacesMode=tra, Layer=layer 22026.06 | 60 | 89.5 | 2.442 | 0.395 | |
| BoQMode=pre, Layer=layer 02026.06 | 58.7 | 86.2 | 0.911 | 0.572 | |
| BoQMode=tra, Layer=layer 02026.06 | 58.2 | 87.1 | 1.441 | 0.586 | |
| EigenPlacesMode=pre, Layer=layer 32026.06 | 56.2 | 69.9 | 11.597 | 0.638 | |
| MixVPRMode=pre, Layer=layer 32026.06 | 54.8 | 64.4 | 12.336 | 0.668 | |
| EigenPlacesMode=pre, Layer=layer 22026.06 | 52.4 | 78.1 | 3.549 | 0.484 | |
| SALADMode=pre, Layer=layer 02026.06 | 50.2 | 78.2 | 1.249 | 0.643 | |
| BoQMode=pre, Layer=layer 22026.06 | 48.6 | 67.6 | 0.76 | 0.517 | |
| CosPlaceMode=pre, Layer=layer 32026.06 | 47.9 | 75.3 | 4.401 | 0.606 | |
| SALADMode=pre, Layer=layer 32026.06 | 47.9 | 67.1 | 9.013 | 0.692 | |
| BoQMode=tra, Layer=layer 22026.06 | 47.6 | 67.6 | 0.724 | 0.507 | |
| MixVPRMode=pre, Layer=layer 02026.06 | 46.7 | 76.9 | 2.009 | 0.686 | |
| MixVPRMode=pre, Layer=layer 22026.06 | 43.8 | 71.4 | 6.1 | 0.565 | |
| SALADMode=pre, Layer=layer 22026.06 | 42.9 | 69.5 | 1.373 | 0.537 | |
| MutualVPRMode=pre, Layer=layer 22026.06 | 41.9 | 68.6 | 3.822 | 0.535 | |
| MutualVPRMode=pre, Layer=layer 32026.06 | 41.1 | 58.9 | 9.917 | 0.725 | |
| BoQMode=tra, Layer=layer 12026.06 | 40.4 | 70.7 | 23.723 | 0.811 | |
| CosPlaceMode=pre, Layer=layer 22026.06 | 40 | 62.9 | 7.196 | 0.582 | |
| BoQMode=pre, Layer=layer 12026.06 | 36.4 | 62.6 | 24.621 | 0.901 | |
| MutualVPRMode=pre, Layer=layer 02026.06 | 36.4 | 64 | 1.752 | 0.804 | |
| CosPlaceMode=pre, Layer=layer 02026.06 | 32.9 | 65.3 | 2.043 | 0.908 | |
| EigenPlacesMode=tra, Layer=layer 12026.06 | 16.2 | 52.5 | 12.891 | 1.568 | |
| SALADMode=pre, Layer=layer 12026.06 | 11.1 | 23.2 | 13.708 | 2.026 | |
| EigenPlacesMode=pre, Layer=layer 12026.06 | 10.1 | 31.3 | 18.009 | 1.737 | |
| CosPlaceMode=pre, Layer=layer 12026.06 | 9.1 | 25.3 | 13.766 | 2.208 | |
| MutualVPRMode=pre, Layer=layer 12026.06 | 5.1 | 18.2 | 12.741 | 1.859 | |
| MixVPRMode=pre, Layer=layer 12026.06 | 4 | 12.1 | 15.522 | 2.259 |