Visual Re-localization on Wayspots (test)
82.6Bears Success Rate (< 10cm / 5°)DSAC*
Evaluation Results
| Method | Links | ||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DSAC*Throughput (fps)=17.92024.04 | 82.6 | 91.6 | 83.8 | 98.1 | 54.1 | 69.7 | 34.7 | 38 | 56.7 | 87.1 | 69.5 | 97.9 | 0 | 0 | 25.1 | 26.5 | 100 | 100 | 0.2 | 5.7 | 50.7 | 61.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ACEThroughput (fps)=17.92024.04 | 80.7 | 92.6 | 97 | 98.1 | 49 | 69.6 | 35.8 | 38.5 | 56.5 | 84.7 | 66.7 | 97.8 | 0 | 0 | 34.9 | 36.8 | 100 | 100 | 1 | 7.6 | 52.2 | 62.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| marepoThroughput (fps)=55.62024.04 | 80.7 | 99.3 | 72.4 | 96.9 | 37.8 | 74.2 | 32.6 | 41.6 | 53.9 | 87.7 | 68.6 | 100 | 0 | 0 | 27.9 | 33.4 | 98.1 | 100 | 0 | 0.7 | 47.2 | 63.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| marepo sThroughput (fps)=55.6, fine-tuned=true, Mapping Time=≈ 1 minute2024.04 | 80.7 | 99.5 | 71.8 | 96.9 | 37.1 | 74.1 | 34.2 | 41.1 | 55.1 | 87.9 | 70.7 | 100 | 0 | 0 | 29.3 | 34.8 | 99.8 | 100 | 0 | 0.3 | 47.9 | 63.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PNThroughput (fps)=166.72024.04 | 12.9 | 35.7 | 0 | 0.4 | 1.1 | 6.3 | 0 | 0.2 | 14.9 | 49.1 | 0 | 3 | 0 | 0 | 0 | 0 | 24.2 | 77.5 | 0 | 0 | 5.3 | 17.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MSTThroughput (fps)=28.42024.04 | 0.5 | 12.8 | 0 | 9.9 | 1.3 | 9.7 | 0 | 0 | 5.6 | 25.7 | 0 | 0 | 0 | 0 | 0.9 | 23.6 | 10.7 | 52.6 | 0 | 0 | 1.9 | 13.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MultiLoc2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.062 | — | 0.3 | — | 0.17 | — | 0.36 | — | 0.12 | — | 0.23 | — | 2.2 | — | 0.97 | — | 0.08 | — | 1.9 | — | 0.639 | — | |
| ReLoc3r2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.14 | — | 1.32 | — | 0.36 | — | 0.88 | — | 0.24 | — | 0.32 | — | 8.95 | — | 1 | — | 0.09 | — | 6.17 | — | 1.947 | — |