# Visual Relocalization on Cambridge Landmarks (test)

Source: [Visual Relocalization on Cambridge Landmarks (test)](<https://www.sota2.com/research/sota/visual-relocalization-on-cambridge-landmarks-test>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-04-01T07:12:06.890Z

Evaluation of Visual Relocalization performance on the test split of the Cambridge Landmarks dataset, reporting median translation (cm) and rotation (degrees) errors for five specific scenes (Court, College, Hospital, Shop, Church) and their average.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Visual Relocalization |
| Dataset (including any stated split) | Cambridge Landmarks (test) |
| Metric | College Median Translation Error (cm) |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 17 of 17 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [College Median Translation Error (cm)](<https://www.sota2.com/research/sota/visual-relocalization-on-cambridge-landmarks-test.md?metric=College%20Median%20Translation%20Error%20(cm)>): Lower is better; unit: SCALAR.

- [Court Median Translation Error (cm)](<https://www.sota2.com/research/sota/visual-relocalization-on-cambridge-landmarks-test.md?metric=Court%20Median%20Translation%20Error%20(cm)>): Lower is better; unit: SCALAR.

- [Court Median Rotation Error (°)](<https://www.sota2.com/research/sota/visual-relocalization-on-cambridge-landmarks-test.md?metric=Court%20Median%20Rotation%20Error%20(%C2%B0)>): Lower is better; unit: SCALAR.

- [College Median Rotation Error (°)](<https://www.sota2.com/research/sota/visual-relocalization-on-cambridge-landmarks-test.md?metric=College%20Median%20Rotation%20Error%20(%C2%B0)>): Lower is better; unit: SCALAR.

- [Hospital Median Translation Error (cm)](<https://www.sota2.com/research/sota/visual-relocalization-on-cambridge-landmarks-test.md?metric=Hospital%20Median%20Translation%20Error%20(cm)>): Lower is better; unit: SCALAR.

- [Hospital Median Rotation Error (°)](<https://www.sota2.com/research/sota/visual-relocalization-on-cambridge-landmarks-test.md?metric=Hospital%20Median%20Rotation%20Error%20(%C2%B0)>): Lower is better; unit: SCALAR.

- [Shop Median Translation Error (cm)](<https://www.sota2.com/research/sota/visual-relocalization-on-cambridge-landmarks-test.md?metric=Shop%20Median%20Translation%20Error%20(cm)>): Lower is better; unit: SCALAR.

- [Shop Median Rotation Error (°)](<https://www.sota2.com/research/sota/visual-relocalization-on-cambridge-landmarks-test.md?metric=Shop%20Median%20Rotation%20Error%20(%C2%B0)>): Lower is better; unit: SCALAR.

- [Church Median Translation Error (cm)](<https://www.sota2.com/research/sota/visual-relocalization-on-cambridge-landmarks-test.md?metric=Church%20Median%20Translation%20Error%20(cm)>): Lower is better; unit: SCALAR.

- [Church Median Rotation Error (°)](<https://www.sota2.com/research/sota/visual-relocalization-on-cambridge-landmarks-test.md?metric=Church%20Median%20Rotation%20Error%20(%C2%B0)>): Lower is better; unit: SCALAR.

- [Average Median Translation Error (cm)](<https://www.sota2.com/research/sota/visual-relocalization-on-cambridge-landmarks-test.md?metric=Average%20Median%20Translation%20Error%20(cm)>): Lower is better; unit: SCALAR.

- [Average Median Rotation Error (°)](<https://www.sota2.com/research/sota/visual-relocalization-on-cambridge-landmarks-test.md?metric=Average%20Median%20Rotation%20Error%20(%C2%B0)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | College Median Translation Error (cm) | Result date | Report paper |
| --- | --- | --- | --- |
| HLoc (SP+SG) | 11 | Not recorded | 69cca6820636e5bf4afcbb66 |
| LoGS | 11 | Not recorded | 69cca6820636e5bf4afcbb66 |
| AS (SIFT) | 13 | Not recorded | 69cca6820636e5bf4afcbb66 |
| NeRFMatch | 13 | Not recorded | 69cca6820636e5bf4afcbb66 |
| NeuMap | 14 | Not recorded | 69cca6820636e5bf4afcbb66 |
| RAPref | 15 | Not recorded | 69cca6820636e5bf4afcbb66 |
| STDLoc | 15 | Not recorded | 69cca6820636e5bf4afcbb66 |
| SplatHLoc | 17 | Not recorded | 69cca6820636e5bf4afcbb66 |
| DSAC\* | 18 | Not recorded | 69cca6820636e5bf4afcbb66 |
| SplatHLocinit | 19 | Not recorded | 69cca6820636e5bf4afcbb66 |
| GLACE | 19 | Not recorded | 69cca6820636e5bf4afcbb66 |
| ACE+GS-CPR | 20 | Not recorded | 69cca6820636e5bf4afcbb66 |
| PNeRFLoc | 24 | Not recorded | 69cca6820636e5bf4afcbb66 |
| ACE | 28 | Not recorded | 69cca6820636e5bf4afcbb66 |
| GSplatLoc (Fine) | 31 | Not recorded | 69cca6820636e5bf4afcbb66 |
| DFNetS50 | 37 | Not recorded | 69cca6820636e5bf4afcbb66 |
| CrossFire | 47 | Not recorded | 69cca6820636e5bf4afcbb66 |

### HLoc (SP+SG)

College Median Translation Error (cm): 11. Result ID: 69ccc46147f34ce924b5fe74.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65a51e209131cea0b8dc.md>)

[Implementation](<https://github.com/ethz-asl/hf_net>)

Recorded evaluation configuration: {"Method Category":"Str."}. This record does not assert independent reproduction.

### LoGS

College Median Translation Error (cm): 11. Result ID: 69ccc46147f34ce924b5fe80.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa75341e209131cea66666.md>)

Recorded evaluation configuration: {"Method Category":"Ren. (GS)"}. This record does not assert independent reproduction.

### AS (SIFT)

College Median Translation Error (cm): 13. Result ID: 69ccc46147f34ce924b5fe73.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

Recorded evaluation configuration: {"Method Category":"Str."}. This record does not assert independent reproduction.

### NeRFMatch

College Median Translation Error (cm): 13. Result ID: 69ccc46147f34ce924b5fe7d.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa748b1e209131cea6253e.md>)

Recorded evaluation configuration: {"Method Category":"Ren. (NeRF)"}. This record does not assert independent reproduction.

### NeuMap

College Median Translation Error (cm): 14. Result ID: 69ccc46147f34ce924b5fe79.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee81e209131cea42cd6.md>)

[Implementation](<https://github.com/Tangshitao/NeuMap>)

Recorded evaluation configuration: {"Method Category":"Reg."}. This record does not assert independent reproduction.

### RAPref

College Median Translation Error (cm): 15. Result ID: 69ccc46147f34ce924b5fe81.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76031e209131cea6aea5.md>)

Recorded evaluation configuration: {"Method Category":"Ren. (GS)"}. This record does not assert independent reproduction.

### STDLoc

College Median Translation Error (cm): 15. Result ID: 69ccc46147f34ce924b5fe82.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa779c1e209131cea74597.md>)

[Implementation](<https://zju3dv.github.io/STDLoc>)

Recorded evaluation configuration: {"Method Category":"Ren. (GS)"}. This record does not assert independent reproduction.

### SplatHLoc

College Median Translation Error (cm): 17. Result ID: 69ccc46147f34ce924b5fe83.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

Recorded evaluation configuration: {"Method Category":"Ren. (GS)"}. This record does not assert independent reproduction.

### DSAC\*

College Median Translation Error (cm): 18. Result ID: 69ccc46147f34ce924b5fe76.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa68821e209131cea1c8b0.md>)

Recorded evaluation configuration: {"Method Category":"Reg."}. This record does not assert independent reproduction.

### SplatHLocinit

College Median Translation Error (cm): 19. Result ID: 69ccc46147f34ce924b5fe75.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

Recorded evaluation configuration: {"Method Category":"Str."}. This record does not assert independent reproduction.

### GLACE

College Median Translation Error (cm): 19. Result ID: 69ccc46147f34ce924b5fe78.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa738e1e209131cea5d315.md>)

Recorded evaluation configuration: {"Method Category":"Reg."}. This record does not assert independent reproduction.

### ACE+GS-CPR

College Median Translation Error (cm): 20. Result ID: 69ccc46147f34ce924b5fe7f.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa773e1e209131cea71f0c.md>)

Recorded evaluation configuration: {"Method Category":"Ren. (GS)"}. This record does not assert independent reproduction.

### PNeRFLoc

College Median Translation Error (cm): 24. Result ID: 69ccc46147f34ce924b5fe7c.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa71891e209131cea51d63.md>)

Recorded evaluation configuration: {"Method Category":"Ren. (NeRF)"}. This record does not assert independent reproduction.

### ACE

College Median Translation Error (cm): 28. Result ID: 69ccc46147f34ce924b5fe77.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f691e209131cea456ab.md>)

[Implementation](<https://nianticlabs.github.io/ace>)

Recorded evaluation configuration: {"Method Category":"Reg."}. This record does not assert independent reproduction.

### GSplatLoc (Fine)

College Median Translation Error (cm): 31. Result ID: 69ccc46147f34ce924b5fe7e.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77871e209131cea73d9f.md>)

Recorded evaluation configuration: {"Method Category":"Ren. (GS)"}. This record does not assert independent reproduction.

### DFNetS50

College Median Translation Error (cm): 37. Result ID: 69ccc46147f34ce924b5fe7a.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72581e209131cea55cf1.md>)

Recorded evaluation configuration: {"Method Category":"Ren. (NeRF)"}. This record does not assert independent reproduction.

### CrossFire

College Median Translation Error (cm): 47. Result ID: 69ccc46147f34ce924b5fe7b.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6820636e5bf4afcbb66.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70621e209131cea4acb8.md>)

Recorded evaluation configuration: {"Method Category":"Ren. (NeRF)"}. This record does not assert independent reproduction.

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