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Papers Benchmarks Datasets Tasks

Visual Place Recognition research benchmarks – Page 3 · SOTA2 Research

Visual Place Recognition

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

California (test)

55.9Recall@1

16

Feb 26, 2026

53.9R@1

16

Feb 26, 2026

54.6R@1

16

Feb 26, 2026

Nordland Summer vs Winter

29.34Recall@1

16

Feb 26, 2026

Oxford RobotCar Day vs Night

Vanilla SP + SuperGlue (SG)

86.45Recall@1

16

Feb 26, 2026

61.07Recall@1

16

Feb 26, 2026

0.7Query Time (ms)

15

Mar 6, 2026

1.2Query Time (ms)

15

Mar 6, 2026

Spatio-Temporal-SeqVPR

30.3Recall@1

13

Feb 26, 2026

Tokyo 24/7 (test)

EdgeMAC + CLAHE

90.5mAP

13

Feb 26, 2026

XHZ dataset (Layer 3)

97.3Recall@1

12

Jun 24, 2026

XHZ dataset (Layer 2)

87.6Recall@1

12

Jun 24, 2026

90.9R@1

12

Jun 24, 2026

XHZ dataset (Layer 0)

88.4R@1

12

Jun 24, 2026

Mean Across Datasets

80.9R@1

12

May 21, 2026

73.1R@1

12

May 21, 2026

76.3R@1

12

May 21, 2026

Brisbane-Event-VPR Sunset2 as reference (Daytime)

45R@1

11

Mar 9, 2026

Brisbane-Event-VPR Sunset2 (Morning)

63Recall@1

11

Mar 9, 2026

Brisbane-Event-VPR Sunset2 as reference (Sunset1)

91R@1

11

Mar 9, 2026

Fast-and-Slow 1,293 places (Q-high1)

99Recall@1

11

Mar 9, 2026

Fast-and-Slow (Q-med1)

100R@1

11

Mar 9, 2026

Fast-and-Slow Q-low1 1,310 places

95Recall@1

11

Mar 9, 2026

NSAVP (Query) vs R0-FA0 (Reference) (R0-FN0)

11Recall@1

11

Mar 9, 2026

NSAVP (Query) vs R0-FA0 (Reference) (R0-FS0)

60Recall@1

11

Mar 9, 2026

Page 3 of 7

Popular datasets

Nordland MSLS NSAVP Oxford RobotCar Pitts

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