Benchmark
Listed below are the public results on the three benchmark datasets. The localization results are reported as the percentage of query images which where localized within three given translation and rotation thresholds, for each condition.
Aachen Day-Night dataset
Localization thresholds:
- All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
| Method | day | night | Last updated |
|---|---|---|---|
| RayNeoLoc | 89.7 / 95.9 / 99.0 | 88.8 / 92.9 / 99.0 | May 19, 2025, 3:28 a.m. |
| Combined tuned HLoc | 89.7 / 95.8 / 98.7 | 87.8 / 94.9 / 100.0 | June 14, 2021, 2:03 p.m. |
| Hierarchical Localization - SuperPoint + SuperGlue | 89.6 / 95.4 / 98.8 | 86.7 / 93.9 / 100.0 | July 19, 2020, 5:12 p.m. |
| SuperGlue + Patch2Pix (HLoc) | 89.2 / 95.5 / 98.5 | 87.8 / 94.9 / 100.0 | March 25, 2021, 8:09 p.m. |
| Lenovo Research SH-hloc | 89.0 / 96.0 / 98.9 | 87.8 / 93.9 / 100.0 | Aug. 23, 2024, 3:14 a.m. |
| ONavi-V2.0 | 88.6 / 95.1 / 99.5 | 86.7 / 93.9 / 100.0 | March 18, 2021, 2:07 a.m. |
| HHloc | 89.3 / 96.5 / 99.5 | 86.7 / 91.8 / 100.0 | Aug. 10, 2022, 2:35 a.m. |
| superpoint | 89.0 / 95.9 / 98.8 | 87.8 / 93.9 / 100.0 | Nov. 14, 2022, 8:19 a.m. |
| hloc | 89.3 / 95.9 / 98.8 | 85.7 / 92.9 / 100.0 | July 27, 2020, 8:11 a.m. |
| KAPTURE-R2D2-FUSION | 89.4 / 96.4 / 99.2 | 84.7 / 92.9 / 98.0 | Sept. 1, 2020, 6:22 a.m. |
| hloc-test | 89.3 / 96.0 / 98.8 | 84.7 / 93.9 / 100.0 | Aug. 26, 2020, 2:03 a.m. |
| hloc+superpoint+superglue | 89.4 / 95.8 / 98.7 | 85.7 / 92.9 / 100.0 | June 17, 2021, 1:42 a.m. |
| hloc_only_SP_Voxel_Histo-meanshfit(T=100개만,0.2)-all | 89.3 / 96.0 / 98.7 | 85.7 / 92.9 / 100.0 | Nov. 23, 2021, 9:26 a.m. |
| hloc_ss | 89.2 / 95.9 / 98.5 | 87.8 / 93.9 / 100.0 | Jan. 24, 2022, 2:52 p.m. |
| hloc_ss1 | 88.8 / 96.1 / 98.5 | 86.7 / 93.9 / 100.0 | Jan. 24, 2022, 3:36 p.m. |
| official_hloc | 89.4 / 95.4 / 98.8 | 85.7 / 93.9 / 100.0 | Feb. 7, 2023, 8:13 a.m. |
| MegaLoc+SP+LG | 89.0 / 95.9 / 99.3 | 88.8 / 92.9 / 100.0 | Nov. 19, 2025, 5:50 a.m. |
| Revised_Object_Detection_Aachen_hloc_superpoint+superglue_netvlad50 | 89.1 / 95.8 / 98.7 | 86.7 / 93.9 / 100.0 | April 13, 2022, 6:47 a.m. |
| RLOCS | 88.8 / 95.4 / 99.0 | 85.7 / 93.9 / 100.0 | Sept. 18, 2020, 10:12 a.m. |
| all | 88.0 / 95.6 / 98.8 | 84.7 / 94.9 / 100.0 | June 26, 2021, 6:45 a.m. |
| arlab_hloc | 88.8 / 95.6 / 98.7 | 86.7 / 92.9 / 100.0 | Nov. 24, 2025, 7:48 a.m. |
| SG+SP | 89.0 / 95.4 / 98.7 | 85.7 / 92.9 / 100.0 | July 22, 2024, 2:54 p.m. |
| superpoint | 88.5 / 95.4 / 98.7 | 85.7 / 92.9 / 100.0 | May 26, 2025, 8:37 a.m. |
| hloc | 89.3 / 96.0 / 98.5 | 84.7 / 91.8 / 100.0 | July 24, 2020, 2:36 a.m. |
| semantic_0.8_0.1_0.1_stalpha0.6beta0.4 | 89.0 / 95.0 / 98.4 | 87.8 / 91.8 / 100.0 | Sept. 22, 2025, 2:23 a.m. |
| Hierarchical Localization - SuperPoint + SuperGlue(5*[self, cross]) | 88.2 / 95.1 / 98.3 | 86.7 / 94.9 / 100.0 | April 28, 2021, 8:57 a.m. |
| DeViLoc | 87.4 / 94.8 / 98.2 | 87.8 / 93.9 / 100.0 | March 17, 2024, 8:04 a.m. |
| all_from_xuqichao | 89.0 / 94.3 / 98.2 | 84.7 / 93.9 / 100.0 | Oct. 31, 2022, 2:53 a.m. |
| TopicFM | 88.8 / 94.7 / 97.9 | 86.7 / 92.9 / 100.0 | Oct. 23, 2022, 3:38 p.m. |
| RiemannMatch_bin | 88.2 / 95.4 / 98.2 | 84.7 / 92.9 / 99.0 | Sept. 6, 2021, 2:39 a.m. |
| baseline_original_n2048-r1024 | 88.7 / 95.1 / 98.2 | 83.7 / 93.9 / 98.0 | Oct. 31, 2022, 3:44 a.m. |
| hloc_only_SP_Voxel_Histo-meanshfit(onlyT=20,0.2)-all | 88.2 / 95.0 / 98.2 | 86.7 / 91.8 / 99.0 | Nov. 23, 2021, 10:18 a.m. |
| NetVLAD+DISP | 88.8 / 95.1 / 98.2 | 82.7 / 90.8 / 96.9 | Oct. 27, 2020, 7:16 p.m. |
| hloc_testz_ezxr | 88.3 / 95.0 / 97.9 | 83.7 / 92.9 / 99.0 | Feb. 24, 2022, 7:45 a.m. |
| KAPTURE-R2D2-APGeM | 88.7 / 95.8 / 98.8 | 81.6 / 88.8 / 96.9 | July 29, 2020, 12:28 p.m. |
| ONavi | 85.7 / 93.7 / 98.9 | 81.6 / 91.8 / 100.0 | June 3, 2020, 2:49 a.m. |
| Visual Localization Using Dense Semantic 3D Map And Hybrid Features | 90.3 / 95.5 / 97.9 | 64.3 / 84.7 / 99.0 | May 25, 2020, 6:26 a.m. |
| baseline_n2048-r1024 | 88.1 / 94.7 / 98.2 | 79.6 / 92.9 / 98.0 | Oct. 31, 2022, 6:09 a.m. |
| Binux_20_SP | 88.2 / 94.9 / 97.9 | 84.7 / 91.8 / 98.0 | Dec. 7, 2020, 2:05 a.m. |
| XRLocalization(GAM) | 88.0 / 94.8 / 98.5 | 78.6 / 91.8 / 99.0 | Nov. 17, 2022, 3:25 a.m. |
| 2D3D_ngransac_1000iter_TF22 | 88.0 / 94.2 / 97.7 | 85.7 / 91.8 / 99.0 | Aug. 29, 2022, 6:18 a.m. |
| hloc_superpoint_lightglue | 88.7 / 94.8 / 97.8 | 83.7 / 91.8 / 98.0 | Nov. 1, 2023, 4:06 p.m. |
| megpoint_pair_oanet | 87.4 / 93.9 / 97.7 | 84.7 / 90.8 / 99.0 | Aug. 19, 2020, 1:26 a.m. |
| CAPS + Patch2Pix (HLoc) | 86.7 / 93.7 / 96.7 | 85.7 / 92.9 / 99.0 | March 25, 2021, 8:10 p.m. |
| sfm_from_xuqichao | 87.5 / 94.1 / 97.6 | 81.6 / 92.9 / 98.0 | Oct. 31, 2022, 2:52 a.m. |
| baseline_original_n2048-r2000 | 87.7 / 94.4 / 97.6 | 82.7 / 90.8 / 98.0 | Oct. 31, 2022, 3:44 a.m. |
| baseline_n2048-r2000 | 87.6 / 94.3 / 97.6 | 81.6 / 89.8 / 98.0 | Oct. 31, 2022, 3:43 a.m. |
| hloc_superpoint_lightglue | 86.3 / 94.2 / 97.5 | 82.7 / 90.8 / 99.0 | Aug. 4, 2025, 6:32 a.m. |
| para+sp | 86.7 / 93.6 / 97.5 | 81.6 / 92.9 / 98.0 | June 7, 2023, 10:11 a.m. |
| MaKeGNN+sp | 87.5 / 93.7 / 97.2 | 80.6 / 91.8 / 98.0 | June 6, 2023, 2:13 a.m. |
| MaKeGNN+sp_100 | 87.5 / 93.7 / 97.2 | 80.6 / 91.8 / 98.0 | June 6, 2023, 3:22 a.m. |
| MaKeGNN+sp_100_2 | 87.4 / 93.8 / 97.5 | 79.6 / 90.8 / 98.0 | June 6, 2023, 1:07 p.m. |
| sde_first | 88.6 / 95.1 / 98.1 | 74.5 / 87.8 / 94.9 | April 6, 2024, 11:05 a.m. |
| NetVLAD (top-20) & D2-Net - multi-scale | 84.8 / 92.6 / 97.5 | 84.7 / 90.8 / 96.9 | Nov. 1, 2019, 9:49 a.m. |
| rkpd2m_5k | 87.7 / 93.7 / 97.0 | 82.7 / 88.8 / 96.9 | April 22, 2020, 8:45 a.m. |
| aslfeat2048+sg | 85.3 / 93.9 / 98.2 | 72.4 / 88.8 / 96.9 | Aug. 24, 2021, 2:40 a.m. |
| lir2d2 | 87.9 / 94.5 / 97.7 | 78.6 / 88.8 / 92.9 | April 9, 2024, 4:49 a.m. |
| spd2ms | 88.2 / 93.2 / 97.0 | 80.6 / 88.8 / 95.9 | April 22, 2020, 8:44 a.m. |
| hloc_only_SP_Voxel_Histo-Covis(T=100)-all | 86.9 / 94.2 / 97.9 | 71.4 / 84.7 / 95.9 | Nov. 23, 2021, 8:38 a.m. |
| NV+SP_Covisible | 86.4 / 94.3 / 97.8 | 69.4 / 83.7 / 95.9 | Nov. 23, 2021, 7 a.m. |
| Patch2Pix (HLoc) | 84.6 / 92.1 / 96.5 | 82.7 / 92.9 / 99.0 | March 25, 2021, 8:04 p.m. |
| Geometric Prior Guided Camera Localization | 86.0 / 92.8 / 97.6 | 75.5 / 83.7 / 96.9 | March 1, 2020, 10:15 a.m. |
| disk+nn | 85.0 / 92.7 / 97.2 | 79.6 / 84.7 / 96.9 | May 28, 2025, 7:31 a.m. |
| GO_r2d2_best | 84.2 / 92.6 / 97.0 | 77.6 / 87.8 / 96.9 | May 24, 2020, 4:15 p.m. |
| CoTR | 82.4 / 91.9 / 96.8 | 75.5 / 90.8 / 99.0 | Feb. 17, 2021, 3:12 a.m. |
| lilike | 85.1 / 92.1 / 95.3 | 79.6 / 89.8 / 94.9 | April 9, 2024, 4:48 a.m. |
| Hierarchical Localization - SuperPoint | 85.4 / 93.3 / 97.2 | 75.5 / 86.7 / 92.9 | July 19, 2020, 9:11 p.m. |
| ms2dg | 85.7 / 93.9 / 97.9 | 72.4 / 82.7 / 92.9 | May 17, 2025, 3:55 a.m. |
| 1 | 85.7 / 93.9 / 97.9 | 72.4 / 82.7 / 92.9 | May 17, 2025, 7:55 a.m. |
| 1 | 85.7 / 93.9 / 97.9 | 72.4 / 82.7 / 92.9 | May 17, 2025, 7:55 a.m. |
| baseline_n2048-r1024_NN-dist.7 | 86.2 / 93.1 / 96.5 | 74.5 / 86.7 / 91.8 | Nov. 17, 2022, 3:18 a.m. |
| RT_AP_IR+CRBNet | 76.2 / 93.0 / 98.9 | 66.3 / 86.7 / 96.9 | March 6, 2020, 2:37 a.m. |
| mynet new | 84.8 / 93.1 / 97.7 | 73.5 / 80.6 / 92.9 | May 16, 2025, 3:56 p.m. |
| mynet new | 84.8 / 93.1 / 97.7 | 73.5 / 80.6 / 92.9 | May 16, 2025, 3:56 p.m. |
| myneet1 | 84.8 / 93.1 / 97.7 | 73.5 / 80.6 / 92.9 | May 19, 2025, 2:31 a.m. |
| ms2dgnet | 85.4 / 94.2 / 97.8 | 73.5 / 79.6 / 90.8 | May 19, 2025, 5:57 a.m. |
| baseline_original_n2048-r1024_NN-dist.7 | 85.8 / 92.6 / 96.5 | 71.4 / 87.8 / 93.9 | Nov. 17, 2022, 3:18 a.m. |
| mynet olimit | 84.7 / 92.7 / 97.1 | 71.4 / 79.6 / 90.8 | May 17, 2025, 4:38 a.m. |
| mynet123 | 84.7 / 92.7 / 97.2 | 71.4 / 79.6 / 90.8 | May 19, 2025, 2:31 a.m. |
| GO_R2D2 | 82.9 / 90.2 / 95.8 | 77.6 / 87.8 / 96.9 | May 20, 2020, 2:05 a.m. |
| ncmnet | 85.0 / 92.6 / 97.5 | 69.4 / 77.6 / 88.8 | May 16, 2025, 3:12 p.m. |
| ncmnet | 85.0 / 92.6 / 97.5 | 69.4 / 77.6 / 88.8 | May 16, 2025, 3:12 p.m. |
| gsnet | 84.1 / 93.0 / 97.5 | 71.4 / 77.6 / 89.8 | May 16, 2025, 4:15 p.m. |
| ncmnet | 85.0 / 92.6 / 97.5 | 69.4 / 77.6 / 88.8 | May 17, 2025, 4:03 a.m. |
| xfeatfusion+nn | 84.1 / 90.7 / 95.3 | 74.5 / 85.7 / 92.9 | June 4, 2025, 12:43 p.m. |
| UP_RD2_NV | 84.7 / 92.1 / 96.6 | 72.4 / 82.7 / 88.8 | April 16, 2020, 9:56 a.m. |
| mynet | 83.4 / 92.2 / 97.2 | 67.3 / 77.6 / 89.8 | May 16, 2025, 2:04 a.m. |
| clnet sift | 84.0 / 91.5 / 97.2 | 67.3 / 75.5 / 90.8 | May 16, 2025, 1:07 p.m. |
| xfeat | 83.4 / 90.2 / 94.9 | 75.5 / 87.8 / 92.9 | May 26, 2025, 2:38 p.m. |
| xfeatplus+nn | 83.4 / 89.9 / 95.0 | 77.6 / 87.8 / 94.9 | May 27, 2025, 12:56 p.m. |
| alike+nn | 83.4 / 89.9 / 95.0 | 77.6 / 87.8 / 94.9 | May 28, 2025, 4:33 a.m. |
| CoLoR | 78.6 / 89.4 / 96.8 | 67.3 / 88.8 / 96.9 | Nov. 19, 2025, 7:08 a.m. |
| xfeatplus-gaussplusvgg-nn | 83.1 / 89.9 / 93.9 | 79.6 / 87.8 / 94.9 | June 17, 2025, 2:41 a.m. |
| DenseVLAD (top-50) & D2-Net - multi-scale | 83.1 / 90.9 / 95.5 | 74.5 / 85.7 / 90.8 | Nov. 1, 2019, 9:49 a.m. |
| UR2KID (global: ur2kid-top40, local: ur2kid) | 81.6 / 89.1 / 94.3 | 76.5 / 84.7 / 95.9 | June 18, 2020, 5:34 p.m. |
| xfeatplus+attenvlad+nn | 83.0 / 89.6 / 94.1 | 74.5 / 86.7 / 93.9 | June 5, 2025, 1:06 a.m. |
| baseline_original_n2048-r1024_NN-ratio.8 | 83.1 / 90.8 / 96.1 | 67.3 / 80.6 / 89.8 | Nov. 17, 2022, 3:18 a.m. |
| xfeatatten+nn | 82.8 / 89.3 / 94.2 | 74.5 / 83.7 / 91.8 | June 4, 2025, 10:40 a.m. |
| baseline_n2048-r1024_NN-ratio.8 | 83.0 / 91.3 / 95.9 | 70.4 / 77.6 / 87.8 | Nov. 17, 2022, 3:18 a.m. |
| ONavi-H | 77.7 / 89.0 / 95.8 | 68.4 / 86.7 / 96.9 | Sept. 24, 2019, 9:31 a.m. |
| IR30+ML | 77.1 / 90.5 / 97.5 | 66.3 / 76.5 / 92.9 | Aug. 2, 2019, 12:31 p.m. |
| baseline_n2048-r1024_NN-ratio.8-dist.7 | 82.5 / 91.7 / 96.1 | 68.4 / 77.6 / 87.8 | Nov. 17, 2022, 3:18 a.m. |
| ncmnet | 82.6 / 91.9 / 97.2 | 61.2 / 75.5 / 88.8 | May 16, 2025, 2:11 a.m. |
| xfeat+nn | 81.4 / 88.6 / 94.1 | 74.5 / 85.7 / 92.9 | May 27, 2025, 11:01 a.m. |
| Fine_NV_SP | 81.1 / 89.4 / 95.5 | 71.4 / 80.6 / 91.8 | April 6, 2020, 2:56 p.m. |
| Dynamic retrieval and pre-clustering for hfnet-mv3_m:80n:10 | 78.3 / 87.7 / 93.8 | 69.4 / 80.6 / 92.9 | Aug. 23, 2020, 8:33 a.m. |
| 1 | 83.0 / 91.6 / 96.8 | 61.2 / 74.5 / 88.8 | May 16, 2025, 3:28 a.m. |
| gsnet | 82.8 / 91.4 / 97.0 | 63.3 / 75.5 / 88.8 | May 16, 2025, 6:18 a.m. |
| msga | 83.4 / 92.0 / 96.7 | 66.3 / 73.5 / 87.8 | May 22, 2025, 5:35 a.m. |
| R-SCoRe (DeDoDe) | 74.8 / 86.9 / 96.4 | 64.3 / 89.8 / 96.9 | April 18, 2025, 8:39 a.m. |
| xfeatplus-netvladtorch-nn | 81.3 / 87.5 / 91.9 | 71.4 / 81.6 / 91.8 | June 19, 2025, 1:33 a.m. |
| Hierarchical-Localization NetVLAD+SuperPoint | 80.5 / 87.4 / 94.2 | 68.4 / 77.6 / 88.8 | June 1, 2019, 9:50 a.m. |
| Hierarchical-Localization (multi-camera when available) | 80.5 / 87.4 / 94.2 | 68.4 / 77.6 / 88.8 | June 2, 2019, 6:55 a.m. |
| HF_SG_4096_nv_50_sp | 76.5 / 85.9 / 94.1 | 67.3 / 80.6 / 96.9 | July 11, 2020, 11:55 a.m. |
| MaKeGNN+root | 83.9 / 91.3 / 95.6 | 66.3 / 75.5 / 87.8 | June 13, 2023, 8:14 a.m. |
| Fine_GeM_SP | 78.5 / 87.3 / 93.8 | 67.3 / 80.6 / 86.7 | April 9, 2020, 11:41 a.m. |
| Visual Localization Using Sparse Semantic 3D Map | 71.8 / 91.5 / 96.8 | 58.2 / 76.5 / 90.8 | June 2, 2019, 4 a.m. |
| Dynamic retrieval and pre-clustering for hfnet-mv3 | 77.9 / 87.1 / 93.1 | 67.3 / 78.6 / 88.8 | July 24, 2020, 1:47 a.m. |
| Dynamic retrieval and pre-clustering for hfnet-mv3_m:40n:10 | 77.9 / 87.1 / 93.1 | 67.3 / 78.6 / 88.8 | Aug. 23, 2020, 8:33 a.m. |
| clnet | 82.8 / 91.0 / 96.8 | 60.2 / 73.5 / 86.7 | May 16, 2025, 4:20 a.m. |
| oanet | 81.9 / 91.1 / 95.9 | 63.3 / 73.5 / 81.6 | May 17, 2025, 3:55 a.m. |
| DenseVLAD & D2-Net (top-20) | 80.1 / 88.0 / 93.4 | 66.3 / 75.5 / 84.7 | Oct. 31, 2019, 12:58 a.m. |
| HF_SG_4096_nv | 76.5 / 86.0 / 93.0 | 65.3 / 76.5 / 92.9 | July 3, 2020, 9:25 a.m. |
| HF_SG_4096_nv_50 | 76.2 / 86.4 / 93.4 | 64.3 / 77.6 / 96.9 | July 5, 2020, 4:37 a.m. |
| HF_DCE | 76.5 / 85.9 / 94.1 | 62.2 / 78.6 / 93.9 | July 11, 2020, 9:21 a.m. |
| HF_SG_4096_nv_50_sp | 76.5 / 85.9 / 94.1 | 65.3 / 81.6 / 94.9 | July 17, 2020, 11:35 a.m. |
| NeuMap | 80.8 / 90.9 / 95.6 | 48.0 / 67.3 / 87.8 | Oct. 30, 2022, 9:16 p.m. |
| sp+nn | 84.3 / 89.3 / 92.8 | 64.3 / 75.5 / 84.7 | May 27, 2025, 8:28 a.m. |
| ALL_NV_SP | 79.6 / 87.1 / 93.8 | 64.3 / 75.5 / 88.8 | April 3, 2020, 10:42 a.m. |
| PATS | 0.0 / 0.0 / 0.0 | 85.7 / 94.9 / 100.0 | Nov. 12, 2022, 1:22 a.m. |
| PoSFeat | 0.0 / 0.0 / 0.0 | 81.6 / 90.8 / 100.0 | Aug. 8, 2022, 8:53 a.m. |
| multi-att4 | 0.0 / 0.0 / 0.0 | 80.6 / 91.8 / 100.0 | May 25, 2023, 1:39 a.m. |
| SADAFeat | 0.0 / 0.0 / 0.0 | 81.6 / 89.8 / 100.0 | Aug. 23, 2022, 6:50 a.m. |
| SADGFeat | 0.0 / 0.0 / 0.0 | 81.6 / 89.8 / 100.0 | Sept. 1, 2022, 9:11 a.m. |
| OaFeatkeypoint_bs8_adam_dest40_lr5 | 0.0 / 0.0 / 0.0 | 81.6 / 89.8 / 100.0 | April 25, 2023, 2:27 p.m. |
| CAPS+SuperPoint kp | 0.0 / 0.0 / 0.0 | 82.7 / 87.8 / 100.0 | Oct. 12, 2020, 8:54 p.m. |
| TopicFM [local feature challenge] | 0.0 / 0.0 / 0.0 | 77.6 / 91.8 / 100.0 | Oct. 24, 2022, 6:27 a.m. |
| SuperPoint + SuperGlue [local feature challenge] | 0.0 / 0.0 / 0.0 | 79.6 / 90.8 / 100.0 | Dec. 29, 2020, 3:16 p.m. |
| ASLFeatV2 (10k) | 0.0 / 0.0 / 0.0 | 81.6 / 87.8 / 100.0 | July 20, 2020, 3:54 a.m. |
| PDC-Net+ (H) [local feature challenge] | 0.0 / 0.0 / 0.0 | 80.6 / 89.8 / 100.0 | Nov. 30, 2021, 2:57 p.m. |
| PDC-Net+ (H) + SuperPoint [local feature challenge] | 0.0 / 0.0 / 0.0 | 79.6 / 90.8 / 100.0 | Nov. 30, 2021, 2:57 p.m. |
| LSA_DA | 0.0 / 0.0 / 0.0 | 81.6 / 87.8 / 100.0 | Aug. 5, 2022, 9:53 a.m. |
| OaFeat100_300 | 0.0 / 0.0 / 0.0 | 80.6 / 89.8 / 100.0 | April 14, 2023, 4:47 p.m. |
| R2D2 | 0.0 / 0.0 / 0.0 | 80.6 / 90.8 / 96.9 | April 9, 2021, 9:52 a.m. |
| R2D2_40K | 0.0 / 0.0 / 0.0 | 76.5 / 90.8 / 100.0 | May 18, 2020, 4:15 p.m. |
| R2D2 V2 20K | 0.0 / 0.0 / 0.0 | 75.5 / 90.8 / 100.0 | May 18, 2020, 4:14 p.m. |
| d2net519 | 0.0 / 0.0 / 0.0 | 79.6 / 89.8 / 100.0 | May 19, 2020, 12:32 p.m. |
| OaFeat100_100 | 0.0 / 0.0 / 0.0 | 79.6 / 89.8 / 100.0 | April 14, 2023, 9:27 a.m. |
| OaFeat200_500 | 0.0 / 0.0 / 0.0 | 80.6 / 88.8 / 100.0 | April 16, 2023, 3:45 a.m. |
| OaFeat_last | 0.0 / 0.0 / 0.0 | 80.6 / 89.8 / 99.0 | May 10, 2023, 1:41 a.m. |
| PDC-Net (MS) + Superpoint [local feature challenge] | 0.0 / 0.0 / 0.0 | 80.6 / 87.8 / 100.0 | July 18, 2021, 8:50 a.m. |
| ASLFeat (10k) + OANet | 0.0 / 0.0 / 0.0 | 77.6 / 89.8 / 100.0 | March 20, 2020, 4:57 a.m. |
| OaFeat_daoshudier | 0.0 / 0.0 / 0.0 | 79.6 / 89.8 / 99.0 | May 10, 2023, 3:24 a.m. |
| nori | 78.5 / 85.6 / 91.5 | 64.3 / 78.6 / 89.8 | Jan. 25, 2021, 1:07 p.m. |
| OaFeat_daoshudie | 0.0 / 0.0 / 0.0 | 80.6 / 88.8 / 99.0 | May 10, 2023, 5:54 a.m. |
| OaFeat_daoshudi3 | 0.0 / 0.0 / 0.0 | 80.6 / 88.8 / 99.0 | May 10, 2023, 5:55 a.m. |
| Dynamic retrieval and pre-clustering for hfnet-mv3_m:40n:5 | 77.2 / 84.8 / 92.6 | 67.3 / 77.6 / 86.7 | Aug. 23, 2020, 8:34 a.m. |
| CA-R2D2 | 0.0 / 0.0 / 0.0 | 78.6 / 88.8 / 100.0 | May 27, 2020, 4:47 a.m. |
| Dynamic retrieval and pre-clustering for hfnet-mv3_m:40n:20 | 77.4 / 86.0 / 93.1 | 63.3 / 76.5 / 85.7 | Aug. 23, 2020, 8:34 a.m. |
| SAMLoc | 79.0 / 86.8 / 92.2 | 61.2 / 77.6 / 84.7 | July 12, 2023, 9:04 a.m. |
| OaFeat100_200 | 0.0 / 0.0 / 0.0 | 78.6 / 88.8 / 100.0 | April 14, 2023, 9:27 a.m. |
| deeppoint_oanet | 0.0 / 0.0 / 0.0 | 79.6 / 88.8 / 99.0 | Aug. 17, 2020, 8:06 a.m. |
| Dynamic retrieval and pre-clustering for hfnet-mv3_m:10n:10 | 76.9 / 85.8 / 91.0 | 65.3 / 76.5 / 86.7 | Aug. 23, 2020, 8:32 a.m. |
| Patch2Pix (Night only) | 0.0 / 0.0 / 0.0 | 79.6 / 87.8 / 100.0 | March 25, 2021, 8:06 p.m. |
| aliked_n_32_1k | 0.0 / 0.0 / 0.0 | 77.6 / 88.8 / 100.0 | Nov. 22, 2022, 1:37 p.m. |
| OaFeat_badreward-03 | 0.0 / 0.0 / 0.0 | 79.6 / 88.8 / 99.0 | April 27, 2023, 5:23 a.m. |
| Active Search v1.1 | 85.3 / 92.2 / 97.9 | 39.8 / 49.0 / 64.3 | April 26, 2020, 9:27 a.m. |
| HF_SG | 76.2 / 83.6 / 90.8 | 65.3 / 78.6 / 88.8 | July 2, 2020, 2:09 a.m. |
| ALIKE-N(unlimited) | 0.0 / 0.0 / 0.0 | 77.6 / 87.8 / 100.0 | July 18, 2022, 11:49 a.m. |
| HFnet | 76.2 / 85.4 / 91.9 | 62.2 / 73.5 / 81.6 | June 22, 2020, 12:14 p.m. |
| SceneSqueezer | 75.5 / 89.7 / 96.2 | 50.0 / 67.3 / 78.6 | Nov. 8, 2021, 11:46 p.m. |
| NeuMap (160MB) | 76.2 / 88.5 / 95.5 | 37.8 / 62.2 / 87.8 | Nov. 18, 2022, 1:55 a.m. |
| HF_SG_4096 | 74.0 / 82.9 / 90.7 | 67.3 / 73.5 / 88.8 | July 2, 2020, 2:18 p.m. |
| HF_SG_4096_db | 74.0 / 82.9 / 90.7 | 67.3 / 73.5 / 88.8 | July 2, 2020, 2:19 p.m. |
| coarse2fine | 73.2 / 84.5 / 92.8 | 51.0 / 68.4 / 87.8 | May 24, 2020, 2:03 p.m. |
| darkfeat | 80.2 / 87.0 / 91.1 | 50.0 / 60.2 / 75.5 | May 3, 2024, 3:14 p.m. |
| test_wp | 83.6 / 90.7 / 93.9 | 45.9 / 49.0 / 61.2 | Aug. 29, 2024, 12:31 p.m. |
| sosnet | 80.5 / 86.7 / 92.2 | 43.9 / 50.0 / 60.2 | May 28, 2025, 11:48 a.m. |
| r2d2+nn | 80.5 / 86.7 / 92.2 | 43.9 / 50.0 / 60.2 | May 28, 2025, 2:59 p.m. |
| HSC-Net | 71.1 / 81.9 / 91.7 | 40.8 / 56.1 / 76.5 | Nov. 27, 2019, 7:09 p.m. |
| PixLoc (end-to-end with oracle) | 68.0 / 74.6 / 80.8 | 57.1 / 69.4 / 76.5 | Nov. 19, 2020, 3:33 p.m. |
| Asymmetric Hypercolumn Matching | 47.8 / 72.2 / 91.3 | 42.9 / 59.2 / 89.8 | June 5, 2019, 7:28 p.m. |
| pl_pixloc_official | 64.9 / 70.5 / 78.0 | 48.0 / 55.1 / 64.3 | Feb. 7, 2023, 10:49 a.m. |
| VGG16+learn LM | 64.4 / 69.9 / 77.4 | 50.0 / 55.1 / 67.3 | May 25, 2024, 4:07 p.m. |
| Aachen Localization | 64.4 / 69.7 / 77.2 | 50.0 / 55.1 / 67.3 | Sept. 29, 2022, 1 a.m. |
| Cascaded Parallel Filtering for Memory-Efficient Image-based Localization | 76.7 / 88.6 / 95.8 | 33.7 / 48.0 / 62.2 | July 19, 2019, 10:10 a.m. |
| Localizing Visual Landmarks for 2D matching | 62.4 / 71.8 / 79.9 | 35.7 / 44.9 / 54.1 | April 20, 2019, 5:21 p.m. |
| PixLoc (end-to-end) | 61.7 / 67.6 / 74.8 | 46.9 / 53.1 / 64.3 | Nov. 19, 2020, 3:32 p.m. |
| sd2ss_superSC_all | 0.0 / 0.0 / 0.0 | 77.6 / 86.7 / 100.0 | May 23, 2020, 11:56 a.m. |
| sp4k_SGMNet_com | 0.0 / 0.0 / 0.0 | 77.6 / 88.8 / 99.0 | May 21, 2021, 5:55 a.m. |
| ALIKE-L(unlimited) | 0.0 / 0.0 / 0.0 | 79.6 / 86.7 / 100.0 | July 18, 2022, 11:50 a.m. |
| GLFeat | 0.0 / 0.0 / 0.0 | 79.6 / 86.7 / 100.0 | Oct. 12, 2022, 10:23 a.m. |
| aliked_n_16_2k | 0.0 / 0.0 / 0.0 | 80.6 / 87.8 / 99.0 | Nov. 22, 2022, 1:37 p.m. |
| aliked_n_32_2k | 0.0 / 0.0 / 0.0 | 76.5 / 87.8 / 100.0 | Nov. 22, 2022, 1:38 p.m. |
| pl_pixloc | 58.9 / 66.3 / 68.8 | 28.6 / 54.1 / 60.2 | Feb. 7, 2023, 10:17 a.m. |
| OaFeat_test | 0.0 / 0.0 / 0.0 | 80.6 / 87.8 / 99.0 | May 10, 2023, 12:21 p.m. |
| OaFeat_test_31305 | 0.0 / 0.0 / 0.0 | 80.6 / 87.8 / 99.0 | May 10, 2023, 1:01 p.m. |
| VGG19+learn LM | 53.0 / 62.4 / 72.1 | 35.7 / 44.9 / 64.3 | May 25, 2024, 4:08 p.m. |
| mast3r-resize | 0.0 / 0.0 / 0.0 | 76.5 / 90.8 / 99.0 | Sept. 19, 2024, 12:13 p.m. |
| CityScaleLocalization | 52.3 / 80.0 / 94.3 | 29.6 / 40.8 / 56.1 | May 10, 2019, 2:22 p.m. |
| Active Search | 57.3 / 83.7 / 96.6 | 28.6 / 37.8 / 51.0 | Dec. 10, 2020, 6:05 p.m. |
| sd2ss_zoo4cro_supersc_p2 | 0.0 / 0.0 / 0.0 | 74.5 / 88.8 / 100.0 | May 24, 2020, 7:24 p.m. |
| PDC-Net (MS) [local feature challenge] | 0.0 / 0.0 / 0.0 | 76.5 / 85.7 / 100.0 | July 18, 2021, 8:48 a.m. |
| OaFeat_n7_thr9 | 0.0 / 0.0 / 0.0 | 79.6 / 87.8 / 99.0 | May 9, 2023, 6:38 p.m. |
| D2-Net - single-scale | 0.0 / 0.0 / 0.0 | 74.5 / 86.7 / 100.0 | July 16, 2019, 12:21 p.m. |
| Dense-ContextDesc10k_upright_OANet | 0.0 / 0.0 / 0.0 | 75.5 / 85.7 / 100.0 | Feb. 27, 2020, 7:33 a.m. |
| swnet-single | 0.0 / 0.0 / 0.0 | 72.4 / 88.8 / 99.0 | Oct. 17, 2019, 9 a.m. |
| CAPS+SIFT kp | 0.0 / 0.0 / 0.0 | 77.6 / 86.7 / 99.0 | Oct. 12, 2020, 8:55 p.m. |
| D2net | 0.0 / 0.0 / 0.0 | 75.5 / 85.7 / 100.0 | July 3, 2020, 2:20 p.m. |
| LLF-detector + R2D2-10K | 0.0 / 0.0 / 0.0 | 72.4 / 90.8 / 99.0 | April 12, 2021, 6:42 a.m. |
| SuperPoint+AANet | 0.0 / 0.0 / 0.0 | 79.6 / 87.8 / 96.9 | April 20, 2022, 1:16 p.m. |
| OaFeat_keypoint_bs8_adam_dest40 | 0.0 / 0.0 / 0.0 | 77.6 / 87.8 / 99.0 | April 25, 2023, 1:47 p.m. |
| OaFeat_daoshudi1 | 0.0 / 0.0 / 0.0 | 78.6 / 86.7 / 99.0 | May 10, 2023, 6:26 a.m. |
| UR2KID Scape Technologies (not scene specific, single scale) | 0.0 / 0.0 / 0.0 | 71.4 / 84.7 / 100.0 | June 22, 2020, 9:58 a.m. |
| R2D2 10k keypoints | 0.0 / 0.0 / 0.0 | 74.5 / 83.7 / 100.0 | June 17, 2019, 9:56 a.m. |
| densecontextdesc10k_upright_mixedmatcher | 0.0 / 0.0 / 0.0 | 75.5 / 84.7 / 99.0 | July 16, 2019, 11:13 a.m. |
| DFC-Net | 0.0 / 0.0 / 0.0 | 73.5 / 87.8 / 100.0 | Sept. 19, 2019, 12:56 p.m. |
| sgnet-vl | 0.0 / 0.0 / 0.0 | 72.4 / 85.7 / 100.0 | Oct. 1, 2019, 11:47 a.m. |
| hpf | 0.0 / 0.0 / 0.0 | 74.5 / 83.7 / 99.0 | May 25, 2020, 8:02 a.m. |
| SuperPoint+MVNet | 0.0 / 0.0 / 0.0 | 78.6 / 86.7 / 94.9 | Nov. 25, 2021, 5:11 a.m. |
| ALIKE-L(2048) | 0.0 / 0.0 / 0.0 | 74.5 / 87.8 / 98.0 | July 18, 2022, 11:55 a.m. |
| SuperPoint+HIFT | 0.0 / 0.0 / 0.0 | 79.6 / 86.7 / 96.9 | April 5, 2022, 3:35 a.m. |
| EffLinAtt + Superpoint-4K | 0.0 / 0.0 / 0.0 | 80.6 / 86.7 / 95.9 | April 19, 2022, 4:48 a.m. |
| aliked_n_16_1k | 0.0 / 0.0 / 0.0 | 73.5 / 85.7 / 98.0 | Nov. 22, 2022, 1:37 p.m. |
| aliked_t_16_1k | 0.0 / 0.0 / 0.0 | 70.4 / 87.8 / 98.0 | Nov. 22, 2022, 1:37 p.m. |
| aliked_t_16_2k | 0.0 / 0.0 / 0.0 | 78.6 / 87.8 / 98.0 | Nov. 22, 2022, 1:37 p.m. |
| mast3r-Qprior | 0.0 / 0.0 / 0.0 | 75.5 / 90.8 / 98.0 | Sept. 19, 2024, 10:27 a.m. |
| D2-Net - single-scale off-the-shelf | 0.0 / 0.0 / 0.0 | 71.4 / 85.7 / 98.0 | July 16, 2019, 4:57 p.m. |
| rootsift8k_upright_512_0.2_SGMNet | 0.0 / 0.0 / 0.0 | 70.4 / 85.7 / 98.0 | Nov. 28, 2020, 8:51 a.m. |
| r2d2519 | 0.0 / 0.0 / 0.0 | 73.5 / 84.7 / 96.9 | May 19, 2020, 8:48 a.m. |
| SOSNet+D2D | 0.0 / 0.0 / 0.0 | 73.5 / 83.7 / 96.9 | Dec. 10, 2019, 4:34 p.m. |
| li | 74.5 / 83.0 / 87.4 | 27.6 / 32.7 / 36.7 | April 7, 2024, 11:35 a.m. |
| HardNet+D2D | 0.0 / 0.0 / 0.0 | 74.5 / 82.7 / 95.9 | Dec. 10, 2019, 4:32 p.m. |
| r2d2 | 0.0 / 0.0 / 0.0 | 69.4 / 86.7 / 94.9 | Oct. 21, 2020, 1:58 a.m. |
| ALIKE-N(2048) | 0.0 / 0.0 / 0.0 | 68.4 / 84.7 / 96.9 | July 18, 2022, 11:54 a.m. |
| attention 5K | 0.0 / 0.0 / 0.0 | 71.4 / 83.7 / 91.8 | July 10, 2020, 4:22 a.m. |
| r2d2 | 0.0 / 0.0 / 0.0 | 67.3 / 81.6 / 92.9 | Oct. 19, 2020, 8:45 a.m. |
| pl_pose | 35.4 / 50.1 / 60.2 | 17.3 / 41.8 / 53.1 | Feb. 7, 2023, 10:17 a.m. |
| DGCNCCC | 22.9 / 49.8 / 84.7 | 14.3 / 37.8 / 79.6 | May 30, 2019, 10:17 a.m. |
| saliency_ranking_net (multi-scale) | 0.0 / 0.0 / 0.0 | 69.4 / 80.6 / 88.8 | April 29, 2019, 2:33 p.m. |
| densecontextdesc10k_upright | 0.0 / 0.0 / 0.0 | 67.3 / 79.6 / 90.8 | Aug. 27, 2019, 11:11 a.m. |
| superpoint519 | 0.0 / 0.0 / 0.0 | 74.5 / 78.6 / 89.8 | May 19, 2020, 8:44 a.m. |
| SuperPoint (baseline) | 0.0 / 0.0 / 0.0 | 73.5 / 79.6 / 88.8 | July 18, 2019, 8:24 a.m. |
| DELF - new model | 0.0 / 0.0 / 0.0 | 54.1 / 75.5 / 96.9 | June 12, 2019, 3:52 p.m. |
| HFNet | 0.0 / 0.0 / 0.0 | 64.3 / 75.5 / 88.8 | July 20, 2020, 3:11 p.m. |
| contextdesc10_upright | 0.0 / 0.0 / 0.0 | 62.2 / 74.5 / 90.8 | Aug. 27, 2019, 11:10 a.m. |
| DELF - old model | 0.0 / 0.0 / 0.0 | 57.1 / 73.5 / 95.9 | May 21, 2019, 2:52 p.m. |
| NetVLAD+SuperPoint top 10 (baseline) | 33.9 / 48.8 / 78.5 | 4.1 / 28.6 / 73.5 | June 1, 2019, 8:59 p.m. |
| HesAffNet-HardNet2 | 0.0 / 0.0 / 0.0 | 58.2 / 72.4 / 83.7 | May 31, 2019, 10:35 p.m. |
| 2.5 float ckpt ft lr 6e-6 night | 0.0 / 0.0 / 0.0 | 54.1 / 68.4 / 78.6 | May 20, 2023, 11:04 a.m. |
| 2.5 float ckpt ft lr0 day | 76.2 / 84.7 / 90.2 | 0.0 / 0.0 / 0.0 | May 20, 2023, 10:19 a.m. |
| Upright RootSIFT (Feature Challenge Baseline) | 0.0 / 0.0 / 0.0 | 54.1 / 66.3 / 75.5 | May 2, 2019, 8:57 a.m. |
| 2.5 float ckpt ft lr0 night | 0.0 / 0.0 / 0.0 | 57.1 / 66.3 / 74.5 | May 20, 2023, 10:20 a.m. |
| 2.5 float night | 0.0 / 0.0 / 0.0 | 53.1 / 66.3 / 76.5 | May 19, 2023, 2:26 p.m. |
| 2.5 qat night | 0.0 / 0.0 / 0.0 | 54.1 / 66.3 / 73.5 | May 19, 2023, 10:13 p.m. |
| 2.5 float ckpt day | 76.2 / 84.3 / 89.9 | 0.0 / 0.0 / 0.0 | May 20, 2023, 9:35 a.m. |
| 2.5 float 2 day | 76.2 / 84.3 / 89.9 | 0.0 / 0.0 / 0.0 | May 21, 2023, 2:17 p.m. |
| 2.5 float ckpt ft lr 6e-6 day | 76.1 / 84.0 / 89.8 | 0.0 / 0.0 / 0.0 | May 20, 2023, 11:04 a.m. |
| 2.5 qat night xieyi iter3 fix 1 conv | 0.0 / 0.0 / 0.0 | 52.0 / 65.3 / 74.5 | May 24, 2023, 2:27 p.m. |
| 2.5 float day | 75.7 / 83.3 / 89.8 | 0.0 / 0.0 / 0.0 | May 19, 2023, 2:37 p.m. |
| 2.5 float ckpt ft 2 day | 74.3 / 83.1 / 89.7 | 0.0 / 0.0 / 0.0 | May 21, 2023, 11:50 a.m. |
| 2.5 qat day | 74.2 / 82.4 / 89.2 | 0.0 / 0.0 / 0.0 | May 19, 2023, 10:13 p.m. |
| 2.5 float ckpt night | 0.0 / 0.0 / 0.0 | 54.1 / 64.3 / 72.4 | May 20, 2023, 9:39 a.m. |
| 2.5 float ckpt 2 night | 0.0 / 0.0 / 0.0 | 54.1 / 64.3 / 72.4 | May 21, 2023, 2:18 p.m. |
| 2.5 qat night xieyi iter1 | 0.0 / 0.0 / 0.0 | 53.1 / 64.3 / 73.5 | May 24, 2023, 1:47 p.m. |
| float | 72.8 / 82.5 / 87.9 | 0.0 / 0.0 / 0.0 | May 19, 2023, 8:44 a.m. |
| 2.5 float ckpt ft 2 night | 0.0 / 0.0 / 0.0 | 52.0 / 66.3 / 71.4 | May 21, 2023, 11:51 a.m. |
| ESAC (50 Experts) | 42.6 / 59.6 / 75.5 | 6.1 / 10.2 / 18.4 | Aug. 8, 2019, 7:14 a.m. |
| float | 0.0 / 0.0 / 0.0 | 49.0 / 62.2 / 72.4 | May 19, 2023, 8:44 a.m. |
| 2.5 ptq 32bit day | 71.8 / 80.8 / 86.4 | 0.0 / 0.0 / 0.0 | May 22, 2023, 2:46 a.m. |
| ESAC (20 Experts) | 39.7 / 55.9 / 77.8 | 1.0 / 4.1 / 14.3 | Aug. 8, 2019, 7:13 a.m. |
| 2.5 ptq day | 67.8 / 75.1 / 81.2 | 0.0 / 0.0 / 0.0 | May 22, 2023, 2:12 a.m. |
| 2.5 ptq 32bit night | 0.0 / 0.0 / 0.0 | 51.0 / 58.2 / 65.3 | May 22, 2023, 2:46 a.m. |
| Superpoint+PQ | 46.2 / 65.9 / 86.5 | 0.0 / 0.0 / 0.0 | Sept. 17, 2019, 9:30 a.m. |
| m2 | 0.0 / 0.0 / 0.0 | 31.6 / 54.1 / 69.4 | Nov. 14, 2019, 11:38 p.m. |
| ESAC (10 Experts) | 30.3 / 49.3 / 73.7 | 0.0 / 0.0 / 9.2 | Aug. 8, 2019, 7:13 a.m. |
| 2.5 ptq night | 0.0 / 0.0 / 0.0 | 35.7 / 44.9 / 51.0 | May 22, 2023, 2:12 a.m. |
| glace | 8.6 / 20.8 / 64.0 | 1.0 / 1.0 / 17.3 | June 14, 2024, 3:03 p.m. |
| ELF | 0.0 / 0.0 / 0.0 | 29.6 / 32.7 / 38.8 | May 3, 2019, 8:36 p.m. |
| DSAC++ | 0.4 / 2.4 / 34.0 | 0.0 / 0.0 / 2.0 | Aug. 8, 2019, 7:15 a.m. |
| DenseVLAD | 0.0 / 0.1 / 22.8 | 0.0 / 1.0 / 19.4 | April 11, 2019, 5:43 p.m. |
| Localizing Visual Landmarks for Place Recognition | 0.0 / 0.2 / 20.8 | 0.0 / 0.0 / 17.3 | June 2, 2019, 10:06 p.m. |
| NetVLAD | 0.0 / 0.2 / 18.9 | 0.0 / 0.0 / 14.3 | May 31, 2019, 11:16 p.m. |
| NetVlad_NN_Pose | 0.0 / 0.1 / 7.0 | 0.0 / 0.0 / 4.1 | March 17, 2019, 11:46 a.m. |
| 2.5 qat 32bit ft day | 0.6 / 0.8 / 3.5 | 0.0 / 0.0 / 0.0 | May 20, 2023, 7:47 a.m. |
| 2.5 qat day 32bit freeze pos | 0.6 / 0.7 / 3.4 | 0.0 / 0.0 / 0.0 | May 22, 2023, 8:19 a.m. |
| 2.5 qat night ft 1000 32bit | 0.0 / 0.0 / 0.0 | 1.0 / 1.0 / 2.0 | May 22, 2023, 3:02 p.m. |
| joint image segemation and depth to posenet | 0.0 / 0.1 / 24.9 | 0.0 / 0.0 / 0.0 | May 31, 2019, 11:45 a.m. |
| FAB-MAP | 0.0 / 0.0 / 4.6 | 0.0 / 0.0 / 0.0 | March 13, 2019, 11:54 a.m. |
| 2.5 qat ft 32bit night | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 4.1 | May 20, 2023, 7:47 a.m. |
| 2.5 qat night 32bit freeze pos | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 4.1 | May 22, 2023, 8:20 a.m. |
Aachen Day-Night v1.1 dataset
Localization thresholds:
- All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
| Method | day | night | Last updated |
|---|---|---|---|
| MegLoc | 90.5 / 97.3 / 99.8 | 77.5 / 92.7 / 100.0 | Oct. 8, 2021, 5:14 a.m. |
| OSpace | 91.3 / 97.2 / 99.6 | 81.2 / 92.1 / 100.0 | Oct. 6, 2021, 2:49 p.m. |
| HHloc | 90.5 / 97.1 / 99.8 | 77.0 / 92.1 / 100.0 | Aug. 10, 2022, 2:51 a.m. |
| 4Fun | 91.5 / 97.1 / 99.6 | 78.5 / 91.6 / 99.0 | Sept. 30, 2021, 1:35 a.m. |
| PtLine | 90.0 / 96.7 / 99.5 | 80.6 / 92.1 / 100.0 | Aug. 31, 2021, 8:28 a.m. |
| KAPTURE-R2D2-FUSION-50-PYCOLMAP | 91.3 / 97.0 / 99.5 | 78.5 / 91.6 / 100.0 | Sept. 29, 2021, 1:01 p.m. |
| KAPTURE-Fast-R2D2-FUSION-50-PYCOLMAP | 91.0 / 96.6 / 99.6 | 78.5 / 91.6 / 100.0 | Oct. 13, 2021, 1:52 p.m. |
| KAPTURE-R2D2-FUSION | 90.9 / 96.7 / 99.5 | 78.5 / 91.1 / 98.4 | Sept. 1, 2020, 6:22 a.m. |
| DFM | 90.3 / 96.5 / 99.5 | 74.3 / 91.6 / 99.5 | Nov. 30, 2021, 1:43 a.m. |
| SuperPoint + SuperGlue (Zero-Shot) | 90.3 / 96.4 / 99.4 | 78.0 / 90.6 / 100.0 | Aug. 19, 2023, 5:55 a.m. |
| hloc_50 | 90.2 / 96.4 / 99.3 | 77.5 / 90.6 / 100.0 | Dec. 19, 2023, 7:23 a.m. |
| KRNet | 89.7 / 96.5 / 99.4 | 77.5 / 90.6 / 100.0 | June 29, 2021, 7:26 a.m. |
| RLOCS_v3.0 | 89.8 / 96.7 / 99.5 | 74.9 / 90.6 / 100.0 | Sept. 2, 2021, 1:57 a.m. |
| hloc-fusion | 90.5 / 96.5 / 99.6 | 76.4 / 90.6 / 99.0 | Sept. 13, 2021, 12:47 p.m. |
| TopicFM-fast | 90.4 / 96.4 / 99.2 | 78.5 / 91.6 / 99.5 | Aug. 15, 2023, 8:50 a.m. |
| eimp_4kpoints_netvlad50 | 90.0 / 96.5 / 99.2 | 77.0 / 91.6 / 99.5 | May 1, 2023, 11:09 a.m. |
| LoFTR (Zero-Shot) | 90.0 / 96.2 / 99.4 | 79.1 / 91.6 / 100.0 | Aug. 19, 2023, 5:42 a.m. |
| superpoint | 90.3 / 96.4 / 99.3 | 77.0 / 90.6 / 100.0 | May 12, 2024, 10:29 a.m. |
| SP+SG(Aachen_v1.1) | 90.4 / 96.2 / 99.4 | 75.4 / 90.6 / 100.0 | July 24, 2024, 1:44 p.m. |
| stretch_1024 | 89.9 / 96.2 / 98.8 | 79.1 / 91.1 / 99.5 | Feb. 28, 2024, 9:56 a.m. |
| Hierarchical Localization - SuperPoint + SuperGlue | 89.8 / 96.1 / 99.4 | 77.0 / 90.6 / 100.0 | Aug. 14, 2020, 7:35 a.m. |
| sp_lg_nv_oct13 | 90.0 / 96.2 / 99.3 | 76.4 / 90.1 / 100.0 | Oct. 13, 2025, 3:31 a.m. |
| SP+LG(Aachen-V1.1) | 90.3 / 96.2 / 99.3 | 76.4 / 91.1 / 99.0 | July 26, 2024, 9:32 a.m. |
| kapture-test-0922-2 | 90.2 / 97.1 / 99.5 | 74.9 / 88.0 / 98.4 | Sept. 22, 2021, 12:15 p.m. |
| e17-a-a-t100 | 89.9 / 96.5 / 99.5 | 74.9 / 90.1 / 99.5 | Nov. 3, 2021, 2:45 a.m. |
| e17-a-a-t40 | 90.0 / 96.5 / 99.5 | 74.3 / 90.1 / 99.5 | Nov. 3, 2021, 1:56 a.m. |
| AdaMatcher-Quad | 89.2 / 95.9 / 99.2 | 79.1 / 92.1 / 99.5 | Oct. 28, 2022, 2:32 a.m. |
| PATS | 89.6 / 95.8 / 99.3 | 73.8 / 92.1 / 99.5 | Nov. 12, 2022, 1:22 a.m. |
| PRISM | 89.4 / 96.2 / 99.3 | 78.5 / 91.1 / 99.5 | Aug. 9, 2024, 5:04 a.m. |
| ASTR | 89.9 / 95.6 / 99.2 | 76.4 / 92.1 / 99.5 | Jan. 27, 2023, 4:13 p.m. |
| realmask_1024 | 89.9 / 96.2 / 98.9 | 79.1 / 90.6 / 99.5 | May 3, 2023, 9:25 a.m. |
| AdaMatcher | 89.2 / 96.0 / 99.3 | 79.1 / 90.6 / 99.5 | March 7, 2022, 2:11 p.m. |
| e20-allt-allt | 89.6 / 96.4 / 99.3 | 74.9 / 91.1 / 99.5 | Nov. 2, 2021, 1:53 a.m. |
| EfficientLoFTR | 89.6 / 96.2 / 99.0 | 77.0 / 91.1 / 99.5 | March 13, 2024, 1:21 p.m. |
| EDM | 89.1 / 96.2 / 98.8 | 77.0 / 92.1 / 99.5 | Nov. 11, 2024, 3:04 a.m. |
| ETO_PLUS | 89.3 / 96.1 / 99.2 | 75.4 / 91.6 / 99.5 | Jan. 16, 2025, 8:17 a.m. |
| online2 | 90.2 / 95.5 / 98.9 | 79.6 / 91.1 / 99.5 | Dec. 3, 2022, 6:52 p.m. |
| SATR | 88.1 / 95.5 / 99.2 | 78.5 / 91.6 / 99.5 | Nov. 17, 2021, 3:12 a.m. |
| ASpanFormer | 89.4 / 95.6 / 99.0 | 77.5 / 91.6 / 99.5 | March 5, 2022, 11:40 a.m. |
| TopicFM | 90.2 / 95.9 / 98.9 | 77.5 / 91.1 / 99.5 | Aug. 6, 2022, 11:18 a.m. |
| CoMa_img_0.0 | 89.0 / 95.5 / 98.8 | 79.1 / 91.6 / 99.5 | Nov. 2, 2024, 1:27 p.m. |
| CoMa_img_0.2_rope_1024_24pixel | 89.3 / 95.6 / 98.8 | 78.5 / 91.6 / 99.5 | Nov. 14, 2024, 11:36 a.m. |
| CoMa_img_0.25_rope_1024_20pixel | 89.1 / 95.4 / 98.8 | 79.6 / 91.6 / 99.5 | Nov. 13, 2024, 9:50 a.m. |
| e20-h500 | 89.0 / 96.0 / 99.0 | 74.9 / 90.6 / 99.5 | Nov. 15, 2021, 1:34 a.m. |
| sfd2_4000kpts_netvlad50 | 88.2 / 96.0 / 98.7 | 78.0 / 92.1 / 99.5 | May 1, 2023, 11:14 a.m. |
| DKM (Zero-Shot) | 89.7 / 95.9 / 99.2 | 77.0 / 90.1 / 99.5 | Aug. 19, 2023, 5:31 a.m. |
| ONavi-V2.0 | 88.6 / 95.1 / 99.5 | 75.9 / 90.6 / 100.0 | March 18, 2021, 2:07 a.m. |
| LoFTR | 88.7 / 95.6 / 99.0 | 78.5 / 90.6 / 99.0 | April 9, 2021, 1:38 a.m. |
| SuperGlue + Patch2Pix (HLoc) | 89.3 / 95.8 / 99.2 | 78.0 / 90.6 / 99.0 | June 16, 2021, 6:43 p.m. |
| e20-h100 | 89.7 / 96.2 / 99.3 | 73.8 / 90.1 / 99.5 | Nov. 29, 2021, 11:26 a.m. |
| imp_4kpoints_netvlad50 | 89.1 / 95.4 / 99.0 | 75.9 / 92.7 / 99.5 | May 1, 2023, 11:10 a.m. |
| loftr | 88.8 / 95.8 / 98.8 | 77.5 / 91.1 / 99.0 | May 13, 2024, 1:08 a.m. |
| loftr_v3 | 88.8 / 95.8 / 98.8 | 77.5 / 91.1 / 99.0 | May 31, 2024, 8:52 a.m. |
| CoMa_24pixel_0.2 | 88.3 / 95.0 / 98.9 | 78.0 / 92.1 / 99.5 | Oct. 29, 2024, 1:11 p.m. |
| MeshLoc (real images, LoFTR) | 88.7 / 95.1 / 98.7 | 78.0 / 92.7 / 99.5 | Sept. 21, 2022, 1:43 p.m. |
| loftr_aachen_v1.1 | 88.8 / 96.0 / 98.9 | 76.4 / 90.6 / 99.5 | Oct. 10, 2024, 2:34 p.m. |
| CoMa_36pixel_0.2 | 88.5 / 95.5 / 98.9 | 77.5 / 91.6 / 99.5 | Oct. 30, 2024, 12:17 p.m. |
| CoMa_24pixel_0.1 | 88.2 / 95.4 / 98.9 | 77.5 / 92.1 / 99.0 | Oct. 31, 2024, 2:14 a.m. |
| CoMa_img | 88.3 / 95.4 / 98.8 | 75.9 / 90.6 / 99.5 | Nov. 1, 2024, 11:08 a.m. |
| eloftr_24pixel_8_3 | 88.7 / 95.6 / 98.4 | 75.9 / 91.1 / 99.0 | Oct. 22, 2024, 2:09 a.m. |
| CoMa_36pixel_0.1 | 88.0 / 95.1 / 98.7 | 77.5 / 93.2 / 99.0 | Oct. 30, 2024, 8:16 a.m. |
| focus_48 | 88.0 / 95.3 / 98.7 | 77.0 / 90.6 / 99.5 | June 16, 2025, 12:54 a.m. |
| e17-h500 | 89.7 / 96.1 / 99.0 | 74.3 / 90.6 / 99.0 | Nov. 15, 2021, 1:33 a.m. |
| eloftr_336pixel_8_3 | 88.3 / 95.5 / 98.2 | 75.9 / 91.6 / 99.0 | Oct. 22, 2024, 10:13 a.m. |
| eloftr_36pixel_8_3 | 88.3 / 95.9 / 98.5 | 75.4 / 91.6 / 99.0 | Oct. 23, 2024, 1:40 a.m. |
| eloftr40pixel_8_3 | 88.5 / 95.8 / 98.3 | 75.4 / 91.6 / 99.0 | Oct. 23, 2024, 8:21 a.m. |
| CoMa_12pixel | 87.0 / 94.7 / 98.9 | 75.9 / 92.1 / 99.0 | Oct. 29, 2024, 9:07 a.m. |
| RLOCS | 88.8 / 95.4 / 99.0 | 74.3 / 90.6 / 98.4 | Sept. 24, 2020, 2:20 a.m. |
| eloftr_50pixel_8_3 | 88.5 / 95.5 / 98.1 | 75.4 / 91.6 / 98.4 | Oct. 21, 2024, 1:51 a.m. |
| eloftr12pixel_8_3 | 88.7 / 95.4 / 98.4 | 75.4 / 90.6 / 99.0 | Oct. 21, 2024, 3:38 p.m. |
| eloftr50pixel_8_4 | 88.7 / 95.3 / 98.1 | 74.9 / 91.6 / 98.4 | Oct. 21, 2024, 9 a.m. |
| eloftr_0.2 | 87.5 / 95.1 / 98.8 | 74.9 / 90.6 / 99.0 | Oct. 17, 2024, 8:44 a.m. |
| eloftr_0.2_pixel-0.5 | 87.6 / 95.0 / 98.8 | 74.3 / 91.6 / 99.0 | Oct. 17, 2024, 3:47 p.m. |
| DyCoFormer | 87.5 / 94.5 / 98.4 | 74.9 / 91.1 / 99.0 | Oct. 15, 2024, 11:38 a.m. |
| eloftr_45pixel | 87.5 / 94.5 / 98.4 | 74.9 / 91.1 / 99.0 | Oct. 18, 2024, 3:04 p.m. |
| eloftr_4pixel | 87.5 / 94.5 / 98.4 | 74.9 / 91.1 / 99.0 | Oct. 19, 2024, 8:29 a.m. |
| eloftr_wo_mp_0.2_832 | 86.4 / 95.3 / 98.5 | 74.3 / 90.6 / 99.0 | Oct. 18, 2024, 1:53 a.m. |
| KAPTURE-R2D2-APGeM | 90.0 / 96.2 / 99.5 | 72.3 / 86.4 / 97.9 | Sept. 1, 2020, 6:23 a.m. |
| eloftr_new | 88.2 / 95.3 / 98.4 | 73.3 / 90.6 / 98.4 | Oct. 16, 2024, 7:26 a.m. |
| superpoint+superglue baseline | 89.0 / 96.0 / 99.4 | 72.3 / 89.0 / 97.9 | Sept. 25, 2021, 5:24 a.m. |
| eloftr_45pixel | 87.6 / 94.9 / 97.8 | 74.9 / 91.1 / 98.4 | Oct. 20, 2024, 4:27 a.m. |
| eloftr_repvgg_0.1_1024_ori | 87.6 / 94.7 / 98.3 | 73.8 / 91.6 / 98.4 | Oct. 18, 2024, 8:03 a.m. |
| RLOCS_v1.0 | 86.0 / 94.8 / 98.8 | 72.3 / 88.5 / 99.0 | Aug. 17, 2020, 1:43 a.m. |
| TaSP+netvlad20 | 87.9 / 94.3 / 97.8 | 77.0 / 89.0 / 97.9 | Feb. 7, 2023, 1:22 a.m. |
| xf_lg_nv_oct13 | 87.5 / 94.5 / 99.0 | 67.5 / 88.5 / 98.4 | Oct. 13, 2025, 2:46 p.m. |
| isrf_5k_o2s | 87.1 / 94.7 / 98.3 | 74.3 / 86.9 / 97.4 | July 29, 2020, 12:13 p.m. |
| loftr_train_self_baseline | 85.4 / 93.6 / 98.3 | 73.8 / 86.4 / 99.0 | July 8, 2024, 12:44 p.m. |
| eloftr_4pixel_new | 83.7 / 93.2 / 98.3 | 69.1 / 91.1 / 99.0 | Oct. 20, 2024, 10:33 a.m. |
| Patch2Pix (HLoc) | 86.4 / 93.0 / 97.5 | 72.3 / 88.5 / 97.9 | June 16, 2021, 6:44 p.m. |
| DKM | 84.8 / 92.7 / 97.1 | 70.2 / 90.1 / 97.4 | Aug. 19, 2023, 5:22 a.m. |
| SP+NN(Aachen-V1.1) | 88.1 / 95.0 / 98.1 | 67.5 / 88.0 / 96.9 | July 26, 2024, 1:10 p.m. |
| eloftr_size_1_1 | 83.0 / 92.8 / 97.8 | 70.2 / 89.0 / 97.4 | Oct. 19, 2024, 1:43 a.m. |
| eloftr_50_8_1 | 82.6 / 90.9 / 95.0 | 69.6 / 86.9 / 97.4 | Oct. 20, 2024, 4:19 p.m. |
| AC13c | 0.0 / 0.0 / 0.0 | 75.9 / 91.1 / 96.3 | April 23, 2025, 12:59 p.m. |
| D^2Former | 0.0 / 0.0 / 0.0 | 74.3 / 89.0 / 99.5 | Feb. 1, 2023, 7:19 a.m. |
| multi-att4 | 0.0 / 0.0 / 0.0 | 74.9 / 86.9 / 99.0 | June 4, 2024, 1:46 p.m. |
| LoFTR [local feature challenge] | 0.0 / 0.0 / 0.0 | 72.8 / 88.5 / 99.0 | April 9, 2021, 1:36 a.m. |
| PoSFeat | 0.0 / 0.0 / 0.0 | 73.8 / 87.4 / 98.4 | Aug. 8, 2022, 8:57 a.m. |
| SCFeat | 0.0 / 0.0 / 0.0 | 74.3 / 89.0 / 98.4 | Dec. 16, 2022, 9:23 a.m. |
| isrf_o2s_[local_feature_challenge] | 0.0 / 0.0 / 0.0 | 69.1 / 87.4 / 98.4 | Aug. 18, 2020, 12:40 p.m. |
| SuperPoint + SuperGlue [local feature challenge] | 0.0 / 0.0 / 0.0 | 73.3 / 88.0 / 98.4 | Dec. 29, 2020, 3:17 p.m. |
| LISRD + SuperPoint keypoints + Adalam | 0.0 / 0.0 / 0.0 | 73.3 / 86.9 / 97.9 | Aug. 18, 2020, 9:15 p.m. |
| MTLFeat | 0.0 / 0.0 / 0.0 | 74.3 / 86.9 / 96.9 | March 9, 2021, 1:13 p.m. |
| TaSP+official_matchlist | 0.0 / 0.0 / 0.0 | 74.3 / 88.0 / 97.9 | March 6, 2023, 1:13 p.m. |
| OaFeatV1.1_200_500 | 0.0 / 0.0 / 0.0 | 72.8 / 86.4 / 98.4 | April 16, 2023, 2:12 p.m. |
| OaFeatV1.1_001_100 | 0.0 / 0.0 / 0.0 | 72.8 / 86.4 / 98.4 | April 16, 2023, 4:41 p.m. |
| OaFeatV1.1_100_200 | 0.0 / 0.0 / 0.0 | 73.3 / 86.4 / 98.4 | April 17, 2023, 4:28 a.m. |
| OaFeatV1.1_100_300 | 0.0 / 0.0 / 0.0 | 73.3 / 86.4 / 98.4 | April 17, 2023, 6:46 a.m. |
| OaFeat_keypoint_bs8_adam_dest40_lr | 0.0 / 0.0 / 0.0 | 73.8 / 86.4 / 98.4 | April 26, 2023, 3:42 a.m. |
| CPCN-Feat | 0.0 / 0.0 / 0.0 | 74.9 / 85.9 / 97.9 | June 1, 2023, 9:14 a.m. |
| reseFeat | 0.0 / 0.0 / 0.0 | 75.4 / 87.4 / 96.9 | June 28, 2024, 1:02 a.m. |
| meshloc | 0.0 / 0.0 / 0.0 | 73.8 / 90.1 / 96.9 | April 23, 2025, 12:45 p.m. |
| AC14 | 0.0 / 0.0 / 0.0 | 73.8 / 90.1 / 96.9 | April 23, 2025, 1:04 p.m. |
| DualRC-Net 8000 | 0.0 / 0.0 / 0.0 | 71.2 / 86.9 / 97.9 | Aug. 12, 2020, 9:24 a.m. |
| R2D2_40K | 0.0 / 0.0 / 0.0 | 71.2 / 86.9 / 97.9 | Aug. 17, 2020, 5:20 p.m. |
| aslfeat-20k | 0.0 / 0.0 / 0.0 | 72.3 / 86.4 / 97.9 | Jan. 31, 2022, 1:07 p.m. |
| SADAFeat | 0.0 / 0.0 / 0.0 | 73.3 / 85.9 / 97.4 | Aug. 10, 2022, 1:49 a.m. |
| LISRD + SuperPoint keypoints | 0.0 / 0.0 / 0.0 | 72.3 / 86.4 / 97.4 | Aug. 7, 2020, 9:06 a.m. |
| sp4k_SGMNet | 0.0 / 0.0 / 0.0 | 72.3 / 85.3 / 97.9 | Nov. 28, 2020, 8:58 a.m. |
| ocadesc_0620_1.1 | 0.0 / 0.0 / 0.0 | 72.3 / 85.3 / 97.4 | May 24, 2023, 11:20 a.m. |
| SuperPoint+AANet[local feature challenge] | 0.0 / 0.0 / 0.0 | 71.7 / 86.4 / 96.9 | April 20, 2022, 1:16 p.m. |
| SuperPoint+MVNet | 0.0 / 0.0 / 0.0 | 71.2 / 85.9 / 95.3 | Nov. 25, 2021, 5:14 a.m. |
| MD-2-Net_20k | 0.0 / 0.0 / 0.0 | 69.1 / 84.8 / 97.9 | Feb. 3, 2023, 3:42 p.m. |
| xdh | 83.3 / 90.4 / 93.7 | 61.3 / 77.0 / 85.3 | Aug. 7, 2023, 4:51 a.m. |
| DualRC-Net 2048 | 0.0 / 0.0 / 0.0 | 67.5 / 85.9 / 97.4 | Aug. 12, 2020, 4:19 a.m. |
| aslfeat-8k | 0.0 / 0.0 / 0.0 | 69.6 / 84.8 / 97.4 | Jan. 31, 2022, 1:07 p.m. |
| r2d2-20k | 0.0 / 0.0 / 0.0 | 68.1 / 83.8 / 96.9 | Jan. 31, 2022, 1:05 p.m. |
| MD-2-Net_8k | 0.0 / 0.0 / 0.0 | 70.2 / 83.2 / 96.3 | Feb. 3, 2023, 3:42 p.m. |
| r2d2-8k | 0.0 / 0.0 / 0.0 | 66.0 / 82.2 / 94.8 | Jan. 31, 2022, 1:06 p.m. |
| hloc-zby | 90.3 / 96.4 / 99.4 | 43.5 / 47.1 / 51.3 | March 10, 2023, 12:15 p.m. |
| LLF-Detector + R2D2-10K | 0.0 / 0.0 / 0.0 | 71.2 / 81.2 / 94.2 | April 16, 2021, 10:12 a.m. |
| test1 | 76.5 / 85.9 / 94.1 | 34.6 / 41.4 / 49.7 | July 11, 2020, 10:07 a.m. |
| upright-sift-20k-0.85matchingthr | 0.0 / 0.0 / 0.0 | 62.3 / 78.5 / 90.1 | Jan. 31, 2022, 1:08 p.m. |
| ncmnet_ziyong | 82.6 / 91.9 / 97.2 | 31.4 / 38.7 / 45.5 | May 15, 2025, 9:17 a.m. |
| xdh_trt_fp16_best | 0.0 / 0.0 / 0.0 | 60.7 / 76.4 / 84.8 | Dec. 27, 2023, 2:09 a.m. |
| feat-inv-sift-sift-netvlad-inv | 71.6 / 81.2 / 89.1 | 27.2 / 35.1 / 44.5 | Dec. 4, 2024, 10:18 a.m. |
| dlreloc_2.4_log_no_check | 40.9 / 60.6 / 84.1 | 22.5 / 34.0 / 49.7 | March 3, 2022, 4:04 a.m. |
| xdh_trt_fp16 | 0.0 / 0.0 / 0.0 | 61.8 / 75.9 / 84.3 | Dec. 25, 2023, 1:04 p.m. |
| xdh_trt | 0.0 / 0.0 / 0.0 | 61.3 / 75.4 / 84.8 | Dec. 22, 2023, 1:52 a.m. |
| sift_mnn_nv_oct13 | 72.3 / 78.0 / 82.8 | 19.4 / 22.5 / 26.2 | Oct. 13, 2025, 3:36 a.m. |
| upright-sift-8k-0.85matchingthr | 0.0 / 0.0 / 0.0 | 54.5 / 69.6 / 79.1 | Jan. 31, 2022, 1:08 p.m. |
| xdhsift | 47.7 / 57.3 / 61.9 | 6.8 / 7.3 / 7.3 | Aug. 9, 2023, 9:36 a.m. |
| superpoint+superglue baseline | 0.0 / 0.0 / 7.8 | 0.0 / 0.0 / 11.0 | Sept. 23, 2021, 10:17 a.m. |
| fast_brief_nv_oct14 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | Oct. 14, 2025, 6:21 a.m. |
| fast_brief_nv_oct14_2 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | Oct. 14, 2025, 7:53 a.m. |
CMU Seasons dataset
Localization thresholds:
- All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
| Method | urban | suburban | park | Last updated |
|---|---|---|---|---|
| SemSeq | 96.4 / 97.5 / 98.4 | 90.1 / 92.9 / 95.7 | 77.4 / 82.3 / 87.5 | June 27, 2021, 8:35 a.m. |
| ONavi-V3.0 | 93.6 / 96.6 / 98.5 | 81.3 / 88.6 / 94.2 | 68.5 / 77.7 / 86.4 | June 9, 2021, 9:51 a.m. |
| XRLocalization(GAM) | 93.5 / 96.0 / 98.3 | 81.1 / 87.6 / 94.5 | 67.1 / 76.1 / 86.1 | Nov. 17, 2022, 6:50 a.m. |
| UniGAN(RGBS)+NV+SP_rig_seq | 93.4 / 96.1 / 98.4 | 81.6 / 89.2 / 96.1 | 66.5 / 77.4 / 89.7 | Oct. 21, 2020, 8:06 a.m. |
| UniGAN(RGBS)+NV+SP_rig | 93.3 / 95.8 / 98.0 | 81.4 / 88.6 / 94.8 | 65.3 / 74.3 / 82.8 | Oct. 21, 2020, 8:15 a.m. |
| UniGAN(RGBS)+NV+SP | 92.4 / 95.0 / 98.0 | 75.9 / 82.1 / 91.0 | 56.8 / 65.1 / 81.7 | Jan. 20, 2020, 7:25 a.m. |
| Dynamic retrieval and pre-clustering for hfnet-mv3 | 92.0 / 94.9 / 97.9 | 74.6 / 82.1 / 91.6 | 56.0 / 65.4 / 81.2 | July 24, 2020, 1:52 a.m. |
| ONavi-V2.0 | 91.6 / 94.3 / 96.5 | 77.3 / 83.7 / 90.9 | 59.8 / 67.2 / 76.5 | March 24, 2021, 1:43 a.m. |
| UniGAN(RGB)+NV+SP | 92.1 / 94.8 / 98.0 | 75.9 / 81.6 / 90.8 | 55.5 / 64.1 / 81.0 | Jan. 20, 2020, 7:26 a.m. |
| Hierarchical-Localization NetVLAD+SuperPoint | 91.7 / 94.6 / 97.7 | 74.5 / 81.5 / 91.3 | 54.3 / 62.5 / 79.0 | June 1, 2019, 9:50 a.m. |
| SAMLoc | 91.2 / 94.0 / 97.3 | 73.4 / 80.7 / 91.1 | 51.9 / 61.0 / 77.8 | July 12, 2023, 9:05 a.m. |
| HFnet | 90.3 / 93.0 / 96.1 | 71.6 / 77.9 / 86.8 | 49.3 / 56.6 / 71.3 | July 24, 2020, 1:51 a.m. |
| LocalSfM (Upright RootSIFT) (has partial access to ground truth) | 72.8 / 74.1 / 76.1 | 55.2 / 57.7 / 61.3 | 41.8 / 44.5 / 48.7 | March 13, 2019, 11:42 a.m. |
| Semantic Match Consistency | 75.0 / 82.1 / 87.8 | 44.0 / 53.6 / 63.7 | 30.0 / 37.9 / 48.2 | March 18, 2019, 11:47 p.m. |
| Active Search v1.1 | 68.9 / 75.7 / 83.4 | 36.2 / 44.4 / 56.0 | 24.8 / 31.1 / 41.5 | Aug. 12, 2019, 6:38 a.m. |
| EffecientPairWise2D-3DMatching | 64.1 / 67.8 / 71.5 | 30.2 / 35.5 / 40.9 | 23.8 / 28.1 / 34.0 | March 20, 2019, 9:52 a.m. |
| IRUCC | 23.7 / 51.7 / 92.5 | 11.4 / 29.4 / 88.3 | 13.4 / 35.1 / 88.2 | July 10, 2020, 4:41 p.m. |
| PROCA | 24.9 / 53.4 / 92.7 | 12.0 / 30.4 / 83.3 | 14.1 / 35.2 / 82.6 | Sept. 10, 2022, 5:29 p.m. |
| LOC_NET_L | 24.5 / 52.7 / 92.4 | 11.9 / 30.2 / 81.8 | 13.8 / 34.6 / 82.6 | Feb. 17, 2021, 11:33 a.m. |
| LocNet | 23.6 / 51.3 / 90.0 | 11.7 / 30.0 / 77.0 | 13.2 / 33.3 / 79.0 | Jan. 25, 2021, 9:32 a.m. |
| MDAG | 24.1 / 48.7 / 84.8 | 11.6 / 27.6 / 70.0 | 13.3 / 33.3 / 74.5 | Oct. 5, 2022, 8:15 a.m. |
| DISAM(coarse2fine) | 22.6 / 47.3 / 89.1 | 11.1 / 27.5 / 77.6 | 12.6 / 31.3 / 80.0 | Sept. 17, 2020, 3:24 a.m. |
| DenseVLAD | 22.2 / 48.6 / 92.8 | 9.8 / 26.6 / 85.2 | 10.3 / 27.1 / 77.0 | April 15, 2019, 11:03 a.m. |
| DISAM(fine-only) | 22.7 / 46.4 / 85.4 | 11.3 / 27.2 / 71.9 | 13.2 / 32.2 / 76.9 | Sept. 17, 2020, 3:24 a.m. |
| Active Search | 55.2 / 60.3 / 65.1 | 20.7 / 25.9 / 29.9 | 12.7 / 16.3 / 20.8 | March 13, 2019, 9:04 a.m. |
| DISAM(coarse-only) | 20.1 / 45.0 / 89.9 | 9.9 / 25.6 / 78.6 | 11.3 / 29.1 / 80.1 | Sept. 17, 2020, 3:23 a.m. |
| DIFL+FCL (urban model and square-resized) | 20.2 / 44.7 / 87.8 | 9.7 / 25.0 / 73.7 | 11.4 / 28.9 / 76.4 | Sept. 25, 2019, 11:14 a.m. |
| DIFL+FCL | 20.2 / 45.0 / 87.1 | 9.1 / 23.3 / 69.3 | 10.1 / 26.4 / 74.0 | Sept. 25, 2019, 11:03 a.m. |
| NetVLAD | 17.4 / 40.3 / 93.2 | 7.6 / 21.0 / 80.5 | 5.6 / 15.7 / 65.8 | April 11, 2019, 9:16 p.m. |
| CityScaleLocalization | 36.7 / 42.0 / 53.1 | 8.6 / 11.7 / 21.1 | 7.0 / 9.6 / 17.0 | March 13, 2019, 11:59 a.m. |
| cmu_suburban_origin | 0.0 / 0.0 / 0.0 | 77.2 / 83.7 / 90.9 | 0.0 / 0.0 / 0.0 | April 28, 2021, 1:43 a.m. |
| slice9_FGSN_100 | 0.0 / 0.0 / 0.0 | 27.1 / 27.9 / 28.6 | 0.0 / 0.0 / 0.0 | June 9, 2021, 1:35 a.m. |
| slice9_FGSN_seg_pnp_test | 0.0 / 0.0 / 0.0 | 27.2 / 27.9 / 28.4 | 0.0 / 0.0 / 0.0 | May 21, 2021, 9 a.m. |
| slice9_FSGN_top40_region33_new | 0.0 / 0.0 / 0.0 | 27.1 / 27.8 / 28.5 | 0.0 / 0.0 / 0.0 | May 18, 2021, 5:24 a.m. |
| slice9_FSGN_top30_region33_new | 0.0 / 0.0 / 0.0 | 27.0 / 27.8 / 28.5 | 0.0 / 0.0 / 0.0 | May 18, 2021, 1:28 a.m. |
| slice9_FGSN_33region_time | 0.0 / 0.0 / 0.0 | 26.8 / 27.6 / 28.3 | 0.0 / 0.0 / 0.0 | May 19, 2021, 1:34 a.m. |
| slice9_FGSN_3region | 0.0 / 0.0 / 0.0 | 26.2 / 26.9 / 27.8 | 0.0 / 0.0 / 0.0 | May 13, 2021, 1:53 a.m. |
| slice9_FGSN_1pixel | 0.0 / 0.0 / 0.0 | 25.9 / 26.8 / 27.8 | 0.0 / 0.0 / 0.0 | June 7, 2021, 3:31 a.m. |
| only_slice9 | 0.0 / 0.0 / 0.0 | 25.8 / 26.7 / 27.9 | 0.0 / 0.0 / 0.0 | May 10, 2021, 1:17 a.m. |
| FAB-MAP | 2.7 / 6.4 / 27.3 | 0.5 / 1.5 / 13.6 | 0.8 / 1.7 / 11.5 | March 13, 2019, 11:49 a.m. |
| slice2_10pnp_single | 9.9 / 10.4 / 11.1 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | March 31, 2021, 8:36 a.m. |
| slice2_10pnp_single_3200 | 8.8 / 9.2 / 9.8 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | March 31, 2021, 8:42 a.m. |
| slice2_allpnp_single_3200_v1 | 8.6 / 9.2 / 9.9 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | March 31, 2021, 8:48 a.m. |
| slice2_allpnp_single_3200 | 8.5 / 9.1 / 9.7 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | March 31, 2021, 8:43 a.m. |
| pixloc | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | Aug. 9, 2023, 12:23 p.m. |
Extended CMU Seasons dataset
Localization thresholds:
- All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
| Method | urban | suburban | park | Last updated |
|---|---|---|---|---|
| locSlam (d2net) | 98.2 / 99.9 / 100.0 | 99.4 / 99.9 / 100.0 | 98.2 / 100.0 / 100.0 | June 21, 2022, 2:25 p.m. |
| PFSL FGSN 200 classes (sequential localization) | 94.1 / 99.3 / 100.0 | 100.0 / 100.0 / 100.0 | 97.6 / 99.9 / 99.9 | Nov. 4, 2019, 1:37 p.m. |
| locSlam (SIFT) | 98.2 / 100.0 / 100.0 | 99.1 / 100.0 / 100.0 | 91.1 / 98.5 / 100.0 | June 21, 2022, 2:25 p.m. |
| Hierarchical Localization - SuperPoint + SuperGlue (multi-camera) | 98.1 / 99.8 / 99.9 | 98.3 / 99.5 / 100.0 | 94.2 / 97.1 / 98.5 | Aug. 14, 2020, 6:47 a.m. |
| dino30_superpoint_lightglue_gim | 96.4 / 99.3 / 99.9 | 95.8 / 98.9 / 99.9 | 92.5 / 96.6 / 98.1 | July 3, 2025, 1:35 p.m. |
| DeViLoc (15refs) | 96.5 / 98.9 / 99.3 | 97.7 / 98.8 / 99.8 | 93.1 / 96.1 / 97.1 | Nov. 24, 2023, 1:41 p.m. |
| KAPTURE-R2D2-FUSION | 97.0 / 99.1 / 99.8 | 95.0 / 97.0 / 99.4 | 89.2 / 93.4 / 97.5 | Sept. 1, 2020, 6:24 a.m. |
| DeViLoc | 95.7 / 98.4 / 99.2 | 97.1 / 98.3 / 99.4 | 92.1 / 95.1 / 96.3 | April 18, 2024, 6:01 a.m. |
| PFSL Cityscapes classes (sequential localization) | 88.1 / 93.8 / 100.0 | 97.4 / 99.2 / 100.0 | 81.8 / 97.2 / 99.9 | Nov. 4, 2019, 1:40 p.m. |
| DenseVLAD & D2-Net | 94.0 / 97.7 / 99.1 | 93.0 / 95.7 / 98.3 | 89.2 / 93.2 / 95.0 | Feb. 25, 2020, 9:10 p.m. |
| KAPTURE-R2D2-APGeM | 96.7 / 98.9 / 99.7 | 94.4 / 96.8 / 99.2 | 83.6 / 89.0 / 95.5 | July 29, 2020, 12:31 p.m. |
| Hierarchical Localization (single-camera) + PixLoc | 96.9 / 98.9 / 99.3 | 93.3 / 95.4 / 97.1 | 87.0 / 89.5 / 91.6 | Nov. 19, 2020, 4:13 p.m. |
| Hierarchical Localization - SuperPoint + SuperGlue (single-camera) | 95.5 / 98.6 / 99.3 | 90.9 / 94.2 / 97.1 | 85.7 / 89.0 / 91.6 | Nov. 11, 2020, 1:25 p.m. |
| sfd2_4000kpts | 95.0 / 97.5 / 98.6 | 90.5 / 92.7 / 95.3 | 86.4 / 89.1 / 91.2 | May 1, 2023, 11:09 a.m. |
| PixLoc (end-to-end with oracle) | 92.8 / 95.1 / 98.5 | 91.9 / 93.4 / 95.8 | 84.0 / 85.8 / 90.9 | Nov. 19, 2020, 4:06 p.m. |
| Hierarchical-Localization (multi-camera when available) | 91.6 / 96.4 / 99.1 | 84.7 / 91.5 / 98.6 | 69.3 / 77.8 / 90.5 | June 2, 2019, 6:55 a.m. |
| isrf_5k_o2s | 93.8 / 96.6 / 98.2 | 83.5 / 86.8 / 90.5 | 76.4 / 80.9 / 85.7 | July 29, 2020, 5:17 a.m. |
| Visual Localization Using Sparse Semantic 3D Map | 88.8 / 93.6 / 96.3 | 78.0 / 83.8 / 89.2 | 63.6 / 70.3 / 77.3 | June 2, 2019, 4 a.m. |
| CU-LTVL | 90.3 / 94.8 / 97.8 | 76.9 / 83.0 / 91.8 | 57.5 / 64.3 / 78.8 | Feb. 20, 2020, 9:05 a.m. |
| Hierarchical-Localization NetVLAD+SuperPoint | 89.5 / 94.2 / 97.9 | 76.5 / 82.7 / 92.7 | 57.4 / 64.4 / 80.4 | June 1, 2019, 9:50 a.m. |
| MOCNet | 89.0 / 91.1 / 94.6 | 82.2 / 83.4 / 86.1 | 63.8 / 65.6 / 70.0 | Jan. 17, 2022, 9:24 a.m. |
| Asymmetric Hypercolumn Matching | 65.7 / 82.7 / 91.0 | 66.5 / 82.6 / 92.9 | 54.3 / 71.6 / 84.1 | June 5, 2019, 7:24 p.m. |
| PixLoc (end-to-end) | 88.3 / 90.4 / 93.7 | 79.6 / 81.1 / 85.2 | 61.0 / 62.5 / 69.4 | Nov. 19, 2020, 4:06 p.m. |
| Match Consistency with Fine-Grained Segmentations (FGSN+SSMC) | 85.3 / 91.0 / 94.6 | 69.5 / 76.4 / 83.7 | 51.4 / 57.6 / 65.5 | Aug. 20, 2019, 6:34 a.m. |
| Match Consistency with Fine-Grained Segmentations (GSMC-200) | 86.4 / 91.2 / 93.8 | 77.0 / 82.9 / 88.7 | 38.9 / 43.4 / 50.0 | Aug. 20, 2019, 7:44 p.m. |
| Localizing Visual Landmarks for 2D matching | 84.3 / 89.3 / 93.0 | 68.0 / 75.1 / 84.4 | 42.4 / 51.4 / 69.7 | April 25, 2019, 8:12 a.m. |
| Active Search v1.1 | 81.0 / 87.3 / 92.4 | 62.6 / 70.9 / 81.0 | 45.5 / 51.6 / 62.0 | April 26, 2020, 9:27 a.m. |
| CityScaleLocalization | 71.2 / 74.6 / 78.7 | 57.8 / 61.7 / 67.5 | 34.5 / 37.0 / 42.2 | March 8, 2019, 8:20 p.m. |
| Active Search | 73.1 / 78.0 / 80.3 | 52.6 / 59.0 / 63.9 | 33.6 / 37.8 / 41.3 | Dec. 19, 2019, 12:35 p.m. |
| LocFeatsBaseline | 53.1 / 62.6 / 88.6 | 40.9 / 47.6 / 76.8 | 20.4 / 26.3 / 51.3 | April 15, 2020, 7:12 a.m. |
| sgVLAD + ELF | 58.3 / 65.8 / 69.0 | 46.5 / 54.2 / 57.9 | 16.1 / 19.2 / 20.7 | May 7, 2020, 5:13 a.m. |
| LocFeatsPoseLossNotDone | 50.8 / 57.5 / 89.1 | 38.8 / 42.3 / 77.6 | 20.6 / 23.5 / 52.2 | April 15, 2020, 7:13 a.m. |
| double-domain Adaptation Semantics（L1) | 18.9 / 44.9 / 89.3 | 7.5 / 23.9 / 85.1 | 8.7 / 29.8 / 81.9 | Sept. 21, 2023, 1:13 p.m. |
| double-domain Adaptation Semantics | 18.4 / 43.4 / 88.1 | 7.2 / 23.4 / 84.2 | 8.6 / 29.1 / 81.2 | Sept. 20, 2023, 8:41 a.m. |
| IRUCC | 16.9 / 41.8 / 92.6 | 6.8 / 23.4 / 93.6 | 7.4 / 27.3 / 87.4 | July 10, 2020, 9:28 p.m. |
| Learning Robust Representation and Sequence Constraint | 17.9 / 43.3 / 92.0 | 6.9 / 22.7 / 90.7 | 8.3 / 28.1 / 86.6 | Nov. 11, 2023, 1:05 p.m. |
| Learning invariant semantic representation for long-term robust visual localization | 17.6 / 42.1 / 91.3 | 6.8 / 22.2 / 90.2 | 8.0 / 27.5 / 85.9 | May 10, 2023, 2:29 a.m. |
| DASGIL-FD | 17.4 / 42.0 / 91.1 | 6.7 / 22.1 / 88.5 | 7.9 / 26.9 / 83.5 | April 18, 2021, 4:10 p.m. |
| DASGIL-CD | 17.3 / 42.2 / 90.5 | 6.5 / 21.5 / 86.5 | 7.5 / 25.3 / 79.2 | April 18, 2021, 4:11 p.m. |
| xdh | 89.5 / 92.4 / 93.4 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | Aug. 10, 2023, 4:36 p.m. |
| xdh_trt | 88.6 / 91.6 / 92.8 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | Dec. 22, 2023, 9:42 a.m. |
| changyolee_hmc_only_cpu_model_20Mb_low_computing_device(hmc_visual_localization) | 83.1 / 91.7 / 96.8 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | Sept. 24, 2024, 1:23 a.m. |
| BOA_XFeat_Estimate_Calib_20Mb_changyolee | 83.1 / 91.7 / 96.8 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | Sept. 24, 2024, 1:29 a.m. |
| Localizing Visual Landmarks for Place Recognition | 17.3 / 42.5 / 89.0 | 5.8 / 19.4 / 76.1 | 6.6 / 23.1 / 73.0 | June 2, 2019, 10:07 p.m. |
| DGCNCCC | 17.1 / 41.5 / 89.1 | 8.9 / 26.8 / 77.1 | 4.8 / 16.2 / 63.3 | June 2, 2019, 1:27 p.m. |
| xdh_trt_fp16 | 86.6 / 89.5 / 90.7 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | Dec. 25, 2023, 1:06 p.m. |
| Netvlad_localization | 16.4 / 38.5 / 78.9 | 8.8 / 27.1 / 77.0 | 4.7 / 16.0 / 63.2 | June 25, 2019, 9:44 p.m. |
| SILK_NETVLAD_LARGEMODEL_20CAN_CHANGYO | 78.4 / 84.0 / 90.6 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | Feb. 26, 2024, 11:56 a.m. |
| DenseVLAD | 14.7 / 36.3 / 83.9 | 5.3 / 18.7 / 73.9 | 5.2 / 19.1 / 62.0 | March 12, 2019, 3:21 p.m. |
| DIFL-FCL | 14.8 / 35.1 / 79.6 | 5.6 / 18.2 / 69.8 | 6.1 / 20.7 / 69.1 | Feb. 25, 2020, 3:24 a.m. |
| JHJ_CG_ZUN_TY_ALEX_SS_TAEIN(can-50) | 61.0 / 66.9 / 74.5 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | Dec. 13, 2023, 1:51 a.m. |
| JHJ_CG_ZUN_TY_ALEX_SS_TAEIN(can-20) | 59.5 / 64.3 / 72.8 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | Dec. 13, 2023, 1:50 a.m. |
| NetVLAD | 12.2 / 31.5 / 89.8 | 3.7 / 13.9 / 74.7 | 2.6 / 10.4 / 55.9 | June 2, 2019, 9:12 a.m. |
| wasabi | 7.9 / 21.3 / 75.2 | 3.8 / 13.9 / 67.3 | 2.4 / 9.1 / 54.5 | May 4, 2020, 8:20 a.m. |
| sgVLAD | 7.3 / 19.9 / 76.9 | 3.6 / 12.8 / 69.1 | 2.1 / 9.1 / 57.4 | May 4, 2020, 8:32 a.m. |
| joint image segemation and depth to posenet | 0.3 / 1.5 / 31.9 | 0.1 / 0.3 / 12.5 | 0.0 / 0.2 / 9.0 | May 31, 2019, 11:46 a.m. |
| xdhsift | 0.4 / 0.8 / 7.2 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | Aug. 11, 2023, 2:36 a.m. |
RobotCar Seasons dataset
Localization thresholds:
- All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
| Method | day all | night all | Last updated |
|---|---|---|---|
| MegaLoc+RDD+LG | 56.8 / 81.9 / 100.0 | 40.5 / 74.8 / 95.3 | Nov. 19, 2025, 5:54 a.m. |
| Lenovo Research SH-HPloc | 57.0 / 82.0 / 99.5 | 43.7 / 73.7 / 94.2 | June 3, 2024, 2:40 a.m. |
| KAPTURE-R2D2-FUSION-50-PyCOLMAP-Rig | 53.9 / 81.7 / 99.7 | 42.8 / 73.7 / 94.4 | Oct. 7, 2021, 7:57 a.m. |
| KAPTURE-Fast-R2D2-FUSION-50-PyCOLMAP-Rig | 54.0 / 81.7 / 99.4 | 42.3 / 75.2 / 95.6 | Oct. 11, 2021, 7:44 a.m. |
| Hierarchical Localization (single-camera) + PixLoc | 56.9 / 82.0 / 98.1 | 34.9 / 67.7 / 89.5 | Nov. 19, 2020, 4:13 p.m. |
| DeViLoc | 56.9 / 81.8 / 98.0 | 31.3 / 68.9 / 92.4 | April 18, 2024, 6 a.m. |
| Hierarchical Localization - SuperPoint + SuperGlue (multi-camera) | 55.7 / 82.0 / 97.6 | 37.7 / 71.5 / 91.1 | Nov. 14, 2020, 2:13 p.m. |
| ONavi_multi_cam | 53.9 / 81.9 / 99.7 | 33.7 / 67.3 / 93.7 | Aug. 27, 2021, 9:22 a.m. |
| sfd2_4000kpts_netvlad20_rear | 56.9 / 81.6 / 97.4 | 35.3 / 68.7 / 90.1 | May 1, 2023, 11:10 a.m. |
| DM_VLOC | 56.7 / 81.6 / 98.1 | 33.9 / 66.7 / 89.5 | Feb. 25, 2021, 9:28 a.m. |
| Hierarchical Localization - SuperPoint + SuperGlue (single-camera) | 56.9 / 81.7 / 98.1 | 33.3 / 65.9 / 88.8 | Nov. 14, 2020, 2:14 p.m. |
| hloc + multicam | 53.1 / 81.5 / 98.1 | 31.8 / 68.0 / 91.2 | Feb. 25, 2021, 6:22 a.m. |
| KAPTURE-R2D2-APGeM | 55.1 / 82.1 / 97.3 | 28.8 / 58.8 / 89.4 | July 29, 2020, 12:30 p.m. |
| RT_AP_IR+CRBNet | 55.3 / 81.8 / 98.5 | 11.5 / 26.5 / 39.2 | March 6, 2020, 2:38 a.m. |
| XRLocalization(GAM) | 57.8 / 81.6 / 97.4 | 12.6 / 35.3 / 69.4 | Nov. 17, 2022, 3:24 a.m. |
| Visual Localization Using Dense Semantic 3D Map And Hybrid Features | 54.6 / 81.9 / 96.9 | 14.8 / 33.0 / 51.3 | May 26, 2020, 4:51 a.m. |
| SIFT+IR50+SIG+FM+R70_85+MUL+RE3+GPNP+MERGE | 57.2 / 81.5 / 97.4 | 9.3 / 30.1 / 53.3 | Sept. 2, 2019, 2:03 a.m. |
| Geometric Prior Guided Camera Localization | 57.3 / 81.7 / 97.6 | 8.0 / 21.6 / 40.7 | March 1, 2020, 10:14 a.m. |
| S_IR_G_BD_AR_merge | 57.2 / 81.5 / 97.4 | 9.3 / 30.1 / 53.3 | Jan. 4, 2021, 9:48 a.m. |
| Visual Localization Using Sparse Semantic 3D Map | 54.5 / 81.6 / 96.7 | 12.3 / 28.5 / 46.5 | June 2, 2019, 4 a.m. |
| hloc + multicam | 50.8 / 80.8 / 97.5 | 25.4 / 61.5 / 89.9 | Feb. 25, 2021, 1:46 a.m. |
| Active Search v1.1 w/ pose prior, image triplets | 52.4 / 81.4 / 97.5 | 12.6 / 23.2 / 42.0 | April 10, 2020, 6:28 p.m. |
| DenseVLAD (top-20) & D2-Net - camera triplets | 53.0 / 81.5 / 96.3 | 28.6 / 50.0 / 67.5 | June 17, 2020, 12:46 p.m. |
| PixLoc (end-to-end with oracle) | 55.8 / 80.8 / 96.4 | 23.6 / 40.3 / 77.8 | Nov. 19, 2020, 4:06 p.m. |
| ALL_NV_SP | 53.9 / 80.4 / 97.5 | 8.1 / 21.0 / 35.3 | April 9, 2020, 2:17 a.m. |
| S2DHM feature optimization | 52.8 / 80.0 / 95.2 | 34.4 / 69.7 / 94.6 | May 24, 2020, 12:38 p.m. |
| DenseVLAD & D2-Net | 54.5 / 80.0 / 95.3 | 20.4 / 40.1 / 55.0 | Oct. 31, 2019, 12:58 a.m. |
| Hierarchical-Localization (multi-camera when available) | 53.8 / 80.4 / 96.0 | 11.2 / 27.7 / 49.1 | June 2, 2019, 6:54 a.m. |
| ToDayGan, NetVLAD, D2-Net | 52.2 / 80.1 / 95.9 | 20.3 / 46.8 / 73.7 | Dec. 12, 2019, 7:57 p.m. |
| S_IR_G_AR | 51.2 / 79.1 / 96.8 | 8.7 / 28.2 / 53.9 | Jan. 4, 2021, 9:42 a.m. |
| S_IR_G_BD_AR | 51.2 / 79.1 / 96.8 | 8.7 / 28.2 / 53.9 | Jan. 4, 2021, 9:45 a.m. |
| Semantic Match Consistency | 50.3 / 79.3 / 95.2 | 7.1 / 22.4 / 45.3 | March 18, 2019, 11:47 p.m. |
| Active Search v1.1 w/ pose prior | 50.9 / 80.2 / 96.6 | 6.9 / 15.6 / 31.7 | April 26, 2020, 9:28 a.m. |
| superpoint | 52.3 / 78.9 / 94.3 | 15.9 / 37.8 / 87.8 | Oct. 11, 2019, 9:28 a.m. |
| Active Search on sequences of camera triplets (uses ground truth relative poses) | 46.6 / 80.1 / 97.0 | 5.8 / 21.0 / 43.1 | March 13, 2019, 12:03 p.m. |
| Hierarchical-Localization NetVLAD+SuperPoint | 53.1 / 79.1 / 95.5 | 7.2 / 17.4 / 34.4 | June 1, 2019, 9:50 a.m. |
| msnet | 53.2 / 78.4 / 96.4 | 4.0 / 11.3 / 21.3 | Oct. 31, 2019, 12:38 p.m. |
| NetVLAD+DISP | 49.0 / 78.0 / 95.1 | 28.2 / 67.7 / 94.5 | Oct. 27, 2020, 7:16 p.m. |
| SAMLoc | 52.3 / 78.9 / 94.7 | 4.6 / 13.0 / 27.6 | July 12, 2023, 9:05 a.m. |
| Asymmetric Hypercolumn Matching | 45.7 / 78.0 / 95.1 | 22.3 / 61.8 / 94.5 | June 5, 2019, 7:25 p.m. |
| s2dhm | 46.4 / 77.6 / 95.1 | 30.0 / 68.8 / 94.6 | Oct. 11, 2019, 3:31 a.m. |
| PixLoc (end-to-end) | 52.7 / 77.5 / 93.9 | 12.0 / 20.7 / 45.4 | Nov. 19, 2020, 4:06 p.m. |
| Active Search v1.1, image triplets | 49.7 / 79.7 / 95.5 | 4.7 / 11.4 / 21.9 | April 10, 2020, 6:30 p.m. |
| pixloc_my | 52.1 / 76.9 / 94.0 | 12.1 / 21.9 / 42.8 | May 21, 2024, 4:40 p.m. |
| Localizing Visual Landmarks for 2D matching | 51.1 / 77.7 / 92.3 | 13.8 / 30.3 / 57.7 | May 16, 2019, 2:09 a.m. |
| HF_DCE_de_n | 49.0 / 76.3 / 94.1 | 10.7 / 31.7 / 57.5 | July 20, 2020, 2:42 a.m. |
| HF_SG_4096_nv_50_sp | 48.5 / 75.8 / 93.7 | 9.7 / 28.8 / 55.9 | July 9, 2020, 12:09 p.m. |
| HF_DCE_de | 49.0 / 76.3 / 94.1 | 9.8 / 28.5 / 51.0 | July 11, 2020, 4:20 a.m. |
| HF_SG_4096_nv_50_sp | 48.5 / 75.8 / 93.7 | 8.8 / 25.3 / 48.4 | July 8, 2020, 2:05 a.m. |
| EffecientPairWise2D-3DMatching | 42.6 / 78.2 / 95.7 | 8.5 / 14.1 / 20.6 | March 20, 2019, 9:52 a.m. |
| Cascaded Parallel Filtering for Memory-Efficient Image-based Localization | 48.0 / 78.0 / 94.2 | 3.4 / 9.5 / 17.0 | July 19, 2019, 10:08 a.m. |
| HFnet | 51.6 / 76.8 / 91.4 | 3.9 / 11.7 / 18.8 | June 23, 2020, 6:15 a.m. |
| DM_Own_1120 | 52.0 / 76.6 / 91.5 | 4.1 / 8.4 / 11.8 | Nov. 20, 2020, 1:50 p.m. |
| Active Seach on Camera Triplets | 45.5 / 77.0 / 94.7 | 2.7 / 6.9 / 12.1 | March 13, 2019, 9:31 a.m. |
| Active Search v1.1 | 43.6 / 76.0 / 94.0 | 1.8 / 7.4 / 14.2 | April 26, 2020, 9:28 a.m. |
| CityScaleLocalization | 45.3 / 73.5 / 90.1 | 0.6 / 2.6 / 7.2 | March 13, 2019, 11:59 a.m. |
| Active Search | 35.6 / 67.9 / 90.4 | 0.9 / 2.1 / 4.3 | March 13, 2019, 9:04 a.m. |
| NetVLAD+SSM(stage II) | 10.1 / 39.7 / 95.9 | 5.4 / 21.6 / 71.0 | April 24, 2020, 10:06 p.m. |
| SSM | 10.1 / 39.5 / 94.2 | 5.1 / 20.2 / 62.0 | April 25, 2020, 7:36 a.m. |
| DenseVLAD (single-scale, top-1 interpolation) | 9.8 / 32.8 / 90.7 | 1.8 / 6.6 / 25.6 | May 29, 2019, 3:27 p.m. |
| ToDayGAN + DenseVLAD | 7.6 / 31.2 / 91.2 | 2.2 / 10.8 / 50.5 | May 27, 2019, 8:05 p.m. |
| DenseVLAD (single-scale) | 8.1 / 31.8 / 90.7 | 1.3 / 5.7 / 25.5 | May 29, 2019, 1 p.m. |
| Learning Robust Representation and Sequence Constraint（L1） | 9.0 / 31.9 / 86.4 | 1.9 / 6.5 / 23.3 | Nov. 11, 2023, 1:18 p.m. |
| Localizing Visual Landmarks for Place Recognition | 7.9 / 30.0 / 85.9 | 4.1 / 15.7 / 59.1 | June 2, 2019, 10:07 p.m. |
| Learning invariant semantic representation for long-term robust visual localization | 9.0 / 32.3 / 84.5 | 2.8 / 7.4 / 25.1 | May 10, 2023, 2:32 a.m. |
| Learning Robust Representation and Sequence Constraint（L2） | 8.4 / 29.2 / 86.9 | 3.9 / 9.5 / 33.1 | Nov. 11, 2023, 1:18 p.m. |
| double-domain Adaptation Semantics | 8.9 / 31.6 / 81.0 | 3.3 / 8.7 / 23.1 | Sept. 20, 2023, 8:41 a.m. |
| DenseVLAD | 7.6 / 31.2 / 91.2 | 1.0 / 4.4 / 22.7 | April 11, 2019, 5:44 p.m. |
| DenseVLAD (single scale) with CLAHE pre-processing | 7.4 / 30.1 / 88.7 | 0.9 / 5.0 / 25.3 | Aug. 23, 2019, 12:37 p.m. |
| DASGIL-FD | 8.7 / 30.7 / 81.3 | 1.7 / 4.6 / 20.7 | May 8, 2021, 4:49 a.m. |
| NetVLAD | 6.4 / 26.3 / 90.9 | 0.3 / 2.3 / 15.9 | June 2, 2019, 9:12 a.m. |
| MDAG-Net | 8.6 / 30.9 / 75.1 | 1.4 / 3.8 / 9.9 | June 5, 2024, 1:42 a.m. |
| DGCNCCC | 7.2 / 28.3 / 87.6 | 0.0 / 1.1 / 13.4 | May 21, 2019, 7:38 a.m. |
| nearest_neighbor | 4.1 / 17.9 / 87.0 | 2.4 / 11.6 / 84.6 | Oct. 11, 2019, 9:09 a.m. |
| DISAM(coarse-only) | 7.4 / 25.8 / 77.6 | 3.3 / 8.7 / 24.8 | Sept. 17, 2020, 3:23 a.m. |
| DIFL+FCL | 7.6 / 26.2 / 75.9 | 2.5 / 6.5 / 15.8 | April 3, 2020, 3:34 a.m. |
| COCL_HR | 12.7 / 60.6 / 75.4 | 0.5 / 1.6 / 2.2 | May 30, 2019, 9:20 a.m. |
| DISAM(fine-only) | 8.2 / 27.0 / 62.7 | 2.1 / 4.8 / 12.1 | Sept. 17, 2020, 3:23 a.m. |
| MinkLoc3D | 3.1 / 13.0 / 84.6 | 1.7 / 8.9 / 72.0 | Nov. 8, 2020, 9:43 p.m. |
| DASGIL-CD | 7.5 / 27.5 / 74.8 | 0.2 / 1.8 / 5.1 | May 9, 2021, 5:24 a.m. |
| FAB-MAP | 2.7 / 11.8 / 37.3 | 0.0 / 0.0 / 0.0 | March 13, 2019, 11:50 a.m. |
| joint image segemation and depth to posenet | 0.1 / 0.8 / 31.0 | 0.0 / 0.0 / 0.0 | May 31, 2019, 11:46 a.m. |
| baseline_800 | 0.0 / 0.0 / 0.0 | 5.2 / 16.5 / 34.4 | Nov. 9, 2019, 7:12 a.m. |
RobotCar Seasons v2 dataset
Localization thresholds:
- All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
| Method | day all | night all | Last updated |
|---|---|---|---|
| MegLoc | 66.6 / 95.4 / 100.0 | 51.5 / 90.0 / 100.0 | Oct. 7, 2021, 3:54 p.m. |
| KAPTURE-R2D2-FUSION | 66.0 / 95.1 / 100.0 | 46.2 / 76.5 / 91.4 | Sept. 1, 2020, 6:23 a.m. |
| 4Fun | 65.1 / 94.9 / 100.0 | 49.2 / 89.7 / 99.3 | Sept. 29, 2021, 9:19 a.m. |
| OSpace | 63.8 / 94.6 / 100.0 | 41.3 / 89.0 / 100.0 | Sept. 30, 2021, 11:16 a.m. |
| Hierarchical Localization - SuperPoint + SuperGlue (multi-camera) | 63.8 / 95.0 / 100.0 | 45.0 / 86.2 / 94.6 | Aug. 13, 2020, 12:22 p.m. |
| KAPTURE-R2D2-FUSION-50-PyCOLMAP-Rig | 61.7 / 94.6 / 100.0 | 51.5 / 87.4 / 99.5 | Oct. 7, 2021, 7:58 a.m. |
| KAPTURE-Fast-R2D2-FUSION-50-PyCOLMAP-Rig | 61.6 / 94.5 / 100.0 | 50.1 / 87.9 / 100.0 | Oct. 11, 2021, 7:45 a.m. |
| hloc-multicamera-netvlad50-8-triple-rear | 62.4 / 94.4 / 100.0 | 46.6 / 86.9 / 97.7 | Sept. 10, 2021, 11:40 a.m. |
| Hierarchical Localization - SuperPoint + SuperGlue (single-camera) | 64.8 / 94.5 / 99.9 | 39.2 / 80.0 / 92.3 | Nov. 11, 2020, 1:27 p.m. |
| test1 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | July 11, 2020, 10:05 a.m. |
InLoc dataset
Localization thresholds:
- All conditions: (0.25m, 10°) / (0.5m, 10°) / (1m, 10°)
| Method | duc1 | duc2 | Last updated |
|---|---|---|---|
| Loc-PL | 64.6 / 84.8 / 93.4 | 76.3 / 86.3 / 88.5 | Oct. 8, 2024, 7:59 a.m. |
| PCLoc (3,000) | 59.6 / 78.3 / 89.4 | 71.0 / 93.1 / 93.9 | Nov. 17, 2020, 8:04 a.m. |
| PCLoc (4,096) | 60.6 / 79.8 / 90.4 | 70.2 / 92.4 / 93.1 | Nov. 17, 2020, 8 a.m. |
| MASt3R top40 | 56.1 / 79.3 / 90.9 | 71.0 / 87.0 / 91.6 | March 8, 2024, 9:38 a.m. |
| roma_indoor | 60.6 / 79.3 / 89.9 | 66.4 / 83.2 / 87.8 | Aug. 3, 2023, 4:19 p.m. |
| RenderNet | 60.6 / 77.3 / 88.9 | 75.6 / 83.2 / 85.5 | July 14, 2021, 11:58 a.m. |
| DKM (Zero-Shot) | 57.1 / 78.8 / 88.4 | 70.2 / 91.6 / 92.4 | Sept. 7, 2023, 8:34 a.m. |
| RenderNet | 58.6 / 77.8 / 89.4 | 74.8 / 82.4 / 85.5 | Jan. 29, 2023, 6:50 a.m. |
| LoFTR (Zero-Shot) | 54.5 / 78.3 / 87.4 | 63.4 / 83.2 / 87.0 | Aug. 31, 2023, 11:45 a.m. |
| SuperPoint + SuperGlue (Zero-Shot) | 53.5 / 76.8 / 86.9 | 61.8 / 85.5 / 87.8 | Aug. 31, 2023, 11:48 a.m. |
| hloc + DKM | 51.5 / 75.3 / 86.9 | 63.4 / 82.4 / 87.8 | Feb. 2, 2023, 5:23 p.m. |
| MegLoc | 50.5 / 73.7 / 88.9 | 59.5 / 86.3 / 91.6 | Oct. 8, 2021, 6:36 a.m. |
| ETO_PLUS | 55.6 / 75.3 / 86.4 | 61.8 / 79.4 / 87.0 | Jan. 16, 2025, 8:17 a.m. |
| CoMa_inloc_50pixel_0.125_skip20_800 | 54.5 / 75.3 / 85.4 | 59.5 / 84.7 / 87.8 | Nov. 15, 2024, 2:04 a.m. |
| CoMa_inloc_50pixel_0.1_skip20_800 | 56.1 / 75.3 / 84.8 | 58.0 / 83.2 / 86.3 | Nov. 5, 2024, 1:54 a.m. |
| CoMa_inloc_50pixel_0.08_skip20_800 | 53.0 / 75.3 / 85.9 | 58.8 / 81.7 / 85.5 | Nov. 14, 2024, 7:30 a.m. |
| EfficientLoFTR | 52.0 / 74.7 / 86.9 | 58.0 / 80.9 / 89.3 | March 13, 2024, 1:21 p.m. |
| CoMa_inloc_50pixel_0.1_skip20_832 | 54.5 / 72.7 / 85.9 | 59.5 / 81.7 / 87.0 | Nov. 3, 2024, 4:31 a.m. |
| CoMa_inloc_50pixel_0.1_skip30_832 | 54.5 / 72.7 / 85.9 | 59.5 / 81.7 / 87.0 | Nov. 3, 2024, 3:14 p.m. |
| CoMa_inloc_50pixel_0.1_skip30_832_again | 54.5 / 72.7 / 85.9 | 59.5 / 81.7 / 87.0 | Nov. 3, 2024, 3:18 p.m. |
| CoMa_inloc_50pixel_0.1_skip10_832 | 54.5 / 72.7 / 85.9 | 59.5 / 81.7 / 87.0 | Nov. 4, 2024, 7:53 a.m. |
| EDM | 51.5 / 72.7 / 85.9 | 59.5 / 82.4 / 88.5 | Nov. 11, 2024, 3:05 a.m. |
| CoMa_inloc_45pixel_0.1_skip30_832 | 54.0 / 72.7 / 85.9 | 58.0 / 83.2 / 87.8 | Nov. 4, 2024, 10:37 a.m. |
| CoMa_inloc_45pixel_0.1_skip30_960 | 54.5 / 73.7 / 85.9 | 58.0 / 80.9 / 87.8 | Nov. 4, 2024, 2:22 p.m. |
| CoMa_inloc_54pixel_0.1_skip20_800 | 56.6 / 75.8 / 84.8 | 58.0 / 80.2 / 86.3 | Nov. 5, 2024, 8:43 a.m. |
| CoMa_inloc_52pixel_0.1_skip20_832 | 54.0 / 72.2 / 85.4 | 58.0 / 82.4 / 87.0 | Nov. 7, 2024, 1:43 a.m. |
| CoMa_inloc_50pixel_0.1_skip20_992 | 53.5 / 74.7 / 85.4 | 58.8 / 80.2 / 88.5 | Nov. 5, 2024, 3:23 p.m. |
| stretch_1024_50px | 56.1 / 74.7 / 86.9 | 55.0 / 79.4 / 87.0 | Oct. 30, 2023, 9:36 a.m. |
| CoMa_inloc_50pixel_0.1_skip30_960 | 53.0 / 74.2 / 85.4 | 58.0 / 83.2 / 88.5 | Nov. 4, 2024, 1:52 a.m. |
| CoMa_inloc_50pixel_0.05_skip20_800 | 53.0 / 75.8 / 86.9 | 56.5 / 81.7 / 86.3 | Nov. 5, 2024, 5:26 a.m. |
| CoMa_inloc_50pixel_0.1_skip20_864 | 53.0 / 75.3 / 87.4 | 57.3 / 79.4 / 86.3 | Nov. 5, 2024, 11:34 a.m. |
| CoMa_inloc_48pixel_0.15_skip20_832 | 53.0 / 73.7 / 85.9 | 57.3 / 80.9 / 87.8 | Nov. 4, 2024, 4:48 p.m. |
| CoMa_inloc_50pixel_0.08_skip20_832 | 54.5 / 74.7 / 84.8 | 56.5 / 80.9 / 86.3 | Nov. 8, 2024, 3:28 p.m. |
| PATS | 55.6 / 71.2 / 81.8 | 58.8 / 80.9 / 85.5 | Nov. 12, 2022, 1:23 a.m. |
| realmask_1024 | 51.5 / 74.2 / 86.4 | 58.0 / 79.4 / 86.3 | May 1, 2023, 12:45 p.m. |
| TopicFM-fast | 53.0 / 76.3 / 86.4 | 57.3 / 74.8 / 84.7 | Aug. 15, 2023, 8:52 a.m. |
| PtLine | 50.5 / 72.7 / 86.9 | 61.8 / 79.4 / 84.0 | Aug. 31, 2021, 8:29 a.m. |
| CoMa_inloc_50pixel_0.2_skip30_640 | 52.5 / 71.2 / 85.4 | 58.8 / 78.6 / 84.7 | Nov. 2, 2024, 4:58 p.m. |
| CoMa_inloc_50pixel_0.1_skip20_768 | 52.0 / 73.2 / 85.4 | 56.5 / 79.4 / 86.3 | Nov. 6, 2024, 5:27 a.m. |
| FMAP | 52.0 / 72.2 / 85.4 | 56.5 / 78.6 / 87.8 | March 29, 2023, 7:20 a.m. |
| OSpace | 52.5 / 73.2 / 85.4 | 66.4 / 79.4 / 82.4 | Sept. 17, 2021, 8:40 a.m. |
| tmp | 48.5 / 70.7 / 85.4 | 59.5 / 80.9 / 84.7 | Oct. 26, 2021, 7:01 a.m. |
| ASTR | 53.0 / 73.7 / 87.4 | 52.7 / 76.3 / 84.0 | Jan. 27, 2023, 4:13 p.m. |
| OAMatcher | 51.0 / 75.8 / 84.8 | 55.0 / 77.1 / 84.7 | March 23, 2023, 6:08 a.m. |
| MRMatcher | 50.5 / 75.8 / 85.9 | 56.5 / 75.6 / 86.3 | Aug. 20, 2023, 5:12 a.m. |
| DSAP | 51.5 / 74.7 / 85.4 | 60.3 / 77.1 / 84.0 | Aug. 20, 2023, 5:24 a.m. |
| PRISM | 53.0 / 77.8 / 87.9 | 54.2 / 72.5 / 83.2 | Aug. 9, 2024, 5:02 a.m. |
| CoMa_inloc_50pixel_0.1 | 52.5 / 73.7 / 86.4 | 53.4 / 77.9 / 87.0 | Oct. 30, 2024, 3:46 p.m. |
| CoMa_inloc_48pixel_0.2_skip40_640 | 51.0 / 71.2 / 85.4 | 59.5 / 78.6 / 84.7 | Nov. 2, 2024, 2:48 p.m. |
| CoMa_inloc_50pixel_0.1_skip20_640 | 55.1 / 71.2 / 84.3 | 57.3 / 77.9 / 84.0 | Nov. 3, 2024, 1:43 a.m. |
| CoMa_inloc_50pixel_0.2_skip20_832 | 53.5 / 72.7 / 84.8 | 55.7 / 76.3 / 85.5 | Nov. 3, 2024, 7:54 a.m. |
| CoMa_inloc_50pixel_0.2_skip30_960 | 52.0 / 73.2 / 84.8 | 54.2 / 78.6 / 87.0 | Nov. 4, 2024, 5:09 a.m. |
| CoMa_inloc_50pixel_0.2 | 52.0 / 74.2 / 85.4 | 54.2 / 76.3 / 87.0 | Oct. 30, 2024, 2 p.m. |
| TopicFM | 52.0 / 74.7 / 87.4 | 53.4 / 74.8 / 83.2 | June 19, 2022, 2:06 p.m. |
| CorMatcher | 50.5 / 73.7 / 84.3 | 55.0 / 76.3 / 85.5 | March 24, 2023, 8:49 a.m. |
| CoMa_inloc_45pixel_0.2 | 50.5 / 72.7 / 84.3 | 55.0 / 76.3 / 86.3 | Oct. 31, 2024, 7:08 a.m. |
| CoMa_inloc_48pixel_0.2_skip20 | 49.5 / 72.7 / 84.3 | 55.0 / 77.9 / 87.0 | Nov. 2, 2024, 10:42 a.m. |
| ASpanFormer | 51.5 / 73.7 / 86.4 | 55.0 / 74.0 / 81.7 | March 5, 2022, 11:34 a.m. |
| test_nm | 50.5 / 75.3 / 86.4 | 51.9 / 75.6 / 83.2 | May 28, 2022, 8 a.m. |
| CasMTR | 53.5 / 76.8 / 85.4 | 51.9 / 70.2 / 83.2 | Nov. 11, 2022, 3:46 a.m. |
| online0.1 | 51.5 / 72.7 / 84.3 | 54.2 / 76.3 / 83.2 | Dec. 8, 2022, 2:57 a.m. |
| costvolumerefine | 52.0 / 72.2 / 84.8 | 54.2 / 75.6 / 84.7 | April 2, 2023, 2:53 p.m. |
| CoMa_inloc_40pixel_0.2 | 51.0 / 72.2 / 85.4 | 55.0 / 75.6 / 84.7 | Oct. 31, 2024, 2:10 a.m. |
| RLOCS_v1.0 | 47.0 / 71.2 / 84.8 | 58.8 / 77.9 / 80.9 | Aug. 17, 2020, 1:43 a.m. |
| RLOCS_v3.0 | 47.0 / 71.2 / 84.8 | 61.1 / 77.9 / 80.2 | Aug. 31, 2021, 8:29 a.m. |
| PL-Loc w/ LineTR | 51.0 / 69.7 / 81.8 | 57.3 / 77.1 / 81.7 | Nov. 27, 2022, 10:45 a.m. |
| CoMa_inloc_60pixel_0.2 | 50.5 / 72.7 / 85.4 | 51.1 / 73.3 / 86.3 | Oct. 31, 2024, 4:59 a.m. |
| LightLink-L | 50.5 / 73.2 / 87.4 | 53.4 / 75.6 / 79.4 | Jan. 27, 2025, 4:20 p.m. |
| LoFTR | 47.5 / 72.2 / 84.8 | 54.2 / 74.8 / 85.5 | April 11, 2021, 6:38 a.m. |
| LightLink-N | 53.0 / 75.8 / 88.4 | 50.4 / 72.5 / 77.9 | Jan. 27, 2025, 4:20 p.m. |
| fa_50_0.1 | 51.5 / 72.2 / 84.3 | 50.4 / 69.5 / 80.9 | Nov. 14, 2025, 9:26 a.m. |
| SuperGlue + Patch2Pix (HLoc) | 50.0 / 68.2 / 81.8 | 57.3 / 77.9 / 80.2 | March 25, 2021, 8:13 p.m. |
| CoMa_inloc_50pixel_0.0_skip20_832 | 50.0 / 72.2 / 85.9 | 52.7 / 74.8 / 79.4 | Nov. 3, 2024, 12:28 p.m. |
| Hierarchical Localization - SuperPoint + SuperGlue | 49.0 / 68.7 / 80.8 | 53.4 / 77.1 / 82.4 | Sept. 20, 2020, 8:42 p.m. |
| CoMa_inloc_48pixel_0.5_skip20 | 48.5 / 71.2 / 82.8 | 51.1 / 74.8 / 84.7 | Nov. 2, 2024, 8:08 a.m. |
| ONavi | 41.9 / 68.2 / 84.3 | 50.4 / 76.3 / 80.2 | June 3, 2020, 2:49 a.m. |
| loftr_refine_steps_reverseT_ad16 | 46.5 / 70.7 / 82.8 | 48.9 / 72.5 / 81.7 | June 29, 2024, 2:18 p.m. |
| tkwattn1152-0.5 | 49.0 / 69.2 / 81.3 | 48.9 / 68.7 / 78.6 | July 18, 2023, 10:04 a.m. |
| DensePE+Sparse-NCNet+DensePV | 47.0 / 67.2 / 79.8 | 43.5 / 64.9 / 80.2 | May 13, 2020, 3:03 p.m. |
| hloc | 47.0 / 66.7 / 78.3 | 51.9 / 71.8 / 77.9 | July 30, 2020, 9:04 a.m. |
| Hierarchical Localization - SuperPoint + SuperGlue | 46.5 / 65.7 / 77.8 | 51.9 / 72.5 / 79.4 | July 19, 2020, 5:11 p.m. |
| hloc+CPainted/Superpoint+SuperGlue | 46.5 / 65.7 / 78.3 | 52.7 / 75.6 / 79.4 | Nov. 6, 2020, 9:14 p.m. |
| DFM | 43.9 / 66.2 / 82.3 | 54.2 / 69.5 / 76.3 | Nov. 30, 2021, 12:01 p.m. |
| dfm-e20-post-how40 | 45.5 / 70.2 / 79.8 | 45.0 / 64.1 / 74.8 | Oct. 25, 2021, 1:27 a.m. |
| Visual Localization Using Dense Semantic 3D Map And Hybrid Features | 48.0 / 62.6 / 79.3 | 53.4 / 64.1 / 74.8 | May 25, 2020, 6:26 a.m. |
| hloctest | 44.4 / 65.2 / 77.8 | 47.3 / 74.8 / 78.6 | Oct. 22, 2021, 4:24 p.m. |
| Patch2Pix (HLoc) | 44.4 / 66.7 / 78.3 | 49.6 / 64.9 / 72.5 | March 25, 2021, 8:11 p.m. |
| e21-jx-post-h40 | 43.9 / 69.7 / 83.8 | 44.3 / 64.9 / 69.5 | Nov. 2, 2021, 2:05 a.m. |
| Oracle (InLoc++) | 43.9 / 66.2 / 78.3 | 43.5 / 63.4 / 76.3 | March 4, 2020, 7:47 a.m. |
| DensePE+NCNet+DensePV | 43.4 / 64.6 / 77.8 | 45.0 / 62.6 / 73.3 | May 13, 2020, 3:03 p.m. |
| D2-Net - multi-scale (210 poses) & InLoc (146 poses) | 42.9 / 63.1 / 75.3 | 40.5 / 61.8 / 77.9 | Nov. 1, 2019, 9:50 a.m. |
| e20-post-v2-h40 | 42.4 / 64.6 / 76.8 | 38.9 / 61.8 / 67.9 | Nov. 3, 2021, 11:44 p.m. |
| e20-post-v2-h40 | 42.4 / 64.6 / 76.8 | 38.9 / 61.8 / 67.9 | Nov. 3, 2021, 11:44 p.m. |
| CAPS + Patch2Pix (HLoc) | 42.4 / 62.6 / 76.3 | 43.5 / 61.1 / 71.0 | March 25, 2021, 8:18 p.m. |
| CoTR | 41.9 / 61.1 / 73.2 | 42.7 / 67.9 / 75.6 | Feb. 19, 2021, 6:48 a.m. |
| KAPTURE-R2D2-FUSION | 41.4 / 60.1 / 73.7 | 47.3 / 67.2 / 73.3 | Sept. 1, 2020, 6:26 a.m. |
| DensePV+S (w/ scan-graph) | 40.9 / 63.6 / 71.7 | 42.7 / 61.8 / 71.0 | Aug. 20, 2019, 4:39 p.m. |
| TaSP_netvlad20_test1 | 40.9 / 62.6 / 72.7 | 45.0 / 61.8 / 72.5 | Feb. 23, 2023, 9:20 a.m. |
| DensePNV (w/ scan-graph) | 39.4 / 62.1 / 74.7 | 42.7 / 61.1 / 70.2 | Aug. 20, 2019, 4:51 p.m. |
| DensePNV+S (w/ scan-graph) | 40.4 / 62.1 / 73.7 | 42.7 / 61.1 / 70.2 | Aug. 20, 2019, 4:36 p.m. |
| D2-Net - multi-scale off-the-shelf (174 poses) & InLoc (182 poses) | 43.9 / 61.6 / 73.7 | 42.0 / 60.3 / 74.8 | Nov. 1, 2019, 9:50 a.m. |
| ncsp+densePV | 44.9 / 61.1 / 74.2 | 45.0 / 56.5 / 65.6 | June 2, 2020, 4:14 a.m. |
| DensePNV+S (w/o scan-graph) | 39.9 / 60.1 / 71.2 | 40.5 / 60.3 / 74.8 | Aug. 20, 2019, 4:57 p.m. |
| InLoc (w/ scan-graph) | 38.9 / 59.6 / 67.7 | 42.0 / 61.1 / 71.0 | Aug. 20, 2019, 4:45 p.m. |
| DensePV+S (w/o scan-graph) | 40.9 / 60.6 / 71.7 | 38.2 / 55.7 / 70.2 | Aug. 20, 2019, 4:47 p.m. |
| DensePNV (w/o scan-graph) | 39.9 / 58.6 / 70.7 | 40.5 / 60.3 / 74.8 | Aug. 20, 2019, 4:50 p.m. |
| Visual Localization Using Sparse Semantic 3D Map | 41.4 / 59.1 / 71.2 | 38.2 / 49.6 / 58.0 | June 2, 2019, 4 a.m. |
| isrf_5k_o2s | 39.4 / 58.1 / 70.2 | 41.2 / 61.1 / 69.5 | July 29, 2020, 1:57 p.m. |
| InLoc | 40.9 / 58.1 / 70.2 | 35.9 / 54.2 / 69.5 | April 30, 2019, 1:52 p.m. |
| D2-Net - multi-scale | 44.4 / 58.6 / 71.2 | 31.3 / 49.6 / 67.9 | Nov. 1, 2019, 9:50 a.m. |
| Hierarchical Localization - SuperPoint | 39.9 / 55.6 / 67.2 | 37.4 / 57.3 / 70.2 | July 19, 2020, 9:13 p.m. |
| apgem_r2d2_40k_all | 39.4 / 57.1 / 70.2 | 36.6 / 53.4 / 61.8 | July 30, 2020, 4:49 p.m. |
| DFC-Net | 42.9 / 57.1 / 69.2 | 32.1 / 51.1 / 67.2 | Sept. 19, 2019, 12:57 p.m. |
| D2-Net - multi-scale off-the-shelf | 42.4 / 56.6 / 66.2 | 31.3 / 50.4 / 64.1 | Nov. 1, 2019, 9:50 a.m. |
| INLOC_PE_PV | 40.4 / 55.6 / 68.2 | 35.9 / 46.6 / 64.9 | Nov. 26, 2019, 12:02 p.m. |
| KAPTURE-R2D2-APGeM_top20_0.1mm | 36.9 / 53.0 / 65.7 | 34.4 / 52.7 / 59.5 | Sept. 1, 2020, 6:26 a.m. |
| INLOC_PE_LPV | 37.4 / 51.0 / 63.6 | 35.1 / 46.6 / 61.1 | Nov. 26, 2019, 12:43 p.m. |
| KAPTURE-R2D2-APGeM_top20_0.5mm | 36.4 / 52.0 / 64.1 | 30.5 / 53.4 / 58.0 | Sept. 1, 2020, 6:25 a.m. |
| dfm-e12-how100 | 35.9 / 57.6 / 70.2 | 29.8 / 42.7 / 51.9 | Sept. 30, 2021, 1:22 a.m. |
| hlocpnp | 34.8 / 47.5 / 60.1 | 32.8 / 47.3 / 54.2 | Oct. 23, 2021, 5:54 a.m. |
| ssadalm | 30.8 / 47.5 / 59.1 | 31.3 / 40.5 / 51.9 | Aug. 13, 2023, 4:48 a.m. |
| ssadalm00 | 30.8 / 47.5 / 59.1 | 31.3 / 40.5 / 51.9 | Aug. 13, 2023, 7 a.m. |
| INLOC_PE | 34.8 / 46.0 / 59.1 | 31.3 / 39.7 / 50.4 | Nov. 26, 2019, 12:01 p.m. |
| geofm | 29.3 / 46.0 / 56.1 | 30.5 / 42.0 / 45.0 | Oct. 21, 2022, 3:36 p.m. |
| DisLoc+SparsePE | 23.7 / 34.3 / 49.5 | 16.8 / 24.4 / 32.8 | May 30, 2019, 9:57 a.m. |
| IR_Q_ONE_ONE | 15.7 / 22.2 / 30.3 | 7.6 / 16.0 / 25.2 | Nov. 1, 2019, 9:53 a.m. |
| IRLP_Q_ONE_ONE | 16.2 / 21.2 / 28.3 | 6.1 / 13.7 / 16.0 | Nov. 14, 2019, 10:53 a.m. |
| IRP_Q_ONE_ONE_1_6 | 14.1 / 17.7 / 21.7 | 9.9 / 14.5 / 19.8 | Nov. 22, 2019, 5:30 a.m. |
| IRP_Q_ONE_ONE_1 | 13.6 / 17.2 / 20.2 | 7.6 / 12.2 / 15.3 | Nov. 22, 2019, 2:21 a.m. |
| IRL_Q_ONE_ONE | 11.1 / 16.7 / 21.2 | 7.6 / 10.7 / 15.3 | Nov. 14, 2019, 2:49 a.m. |
| DFM | 0.0 / 0.0 / 0.0 | 42.0 / 67.9 / 86.3 | Sept. 2, 2021, 12:17 p.m. |
| DenseVLAD | 0.0 / 1.5 / 5.1 | 0.0 / 0.8 / 2.3 | April 30, 2019, 3:02 p.m. |
SILDa Weather and Time of Day dataset
Localization thresholds:
- All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
| Method | evening | snow | night | Last updated |
|---|---|---|---|---|
| MegLoc | 42.0 / 75.2 / 97.4 | 1.0 / 15.1 / 90.8 | 33.3 / 53.8 / 82.1 | Oct. 8, 2021, 6:37 a.m. |
| 4Fun | 39.6 / 74.2 / 95.0 | 1.0 / 14.7 / 91.4 | 31.5 / 54.4 / 83.1 | Oct. 7, 2021, 1:40 p.m. |
| OSpace | 37.1 / 73.9 / 97.2 | 3.1 / 22.6 / 90.8 | 31.3 / 54.6 / 81.3 | Oct. 6, 2021, 10:07 a.m. |
| hloc-multicamera-14-fusion | 37.3 / 73.1 / 97.4 | 0.3 / 14.7 / 90.8 | 30.3 / 54.2 / 79.5 | Sept. 14, 2021, 7:16 a.m. |
| KAPTURE-R2D2-FUSION-50-PyCOLMAP-rig | 38.2 / 71.0 / 93.8 | 0.0 / 9.9 / 91.1 | 32.1 / 54.4 / 79.3 | Oct. 4, 2021, 7:40 a.m. |
| hloc-multicamera-12-fusion | 36.6 / 72.9 / 97.3 | 0.0 / 9.2 / 90.8 | 30.9 / 54.2 / 80.3 | Sept. 14, 2021, 6:42 a.m. |
| Hierarchical Localization - SuperPoint + SuperGlue (multi-camera) | 35.5 / 75.0 / 97.1 | 0.0 / 2.4 / 86.3 | 31.7 / 54.4 / 81.9 | Aug. 18, 2020, 9:31 p.m. |
| KAPTURE-Fast-R2D2-FUSION-50-PyCOLMAP-rig | 37.8 / 70.5 / 93.7 | 0.0 / 8.9 / 91.1 | 32.3 / 54.2 / 79.1 | Oct. 12, 2021, 7:56 a.m. |
| 0912_bypose_rig_fov | 36.3 / 71.6 / 96.1 | 0.0 / 4.5 / 90.4 | 30.9 / 53.6 / 79.1 | Sept. 17, 2021, 7:01 a.m. |
| 0915_bypose_rig_pinhole_s1.5 | 33.3 / 71.9 / 94.9 | 0.0 / 2.4 / 86.6 | 31.7 / 54.6 / 79.5 | Oct. 3, 2021, 5:22 p.m. |
| KAPTURE-R2D2-FUSION | 32.4 / 67.4 / 93.3 | 0.2 / 4.1 / 88.9 | 30.4 / 54.2 / 81.1 | Sept. 1, 2020, 6:26 a.m. |
| NetVLAD (top-50) & D2-Net - multi-scale | 29.6 / 67.8 / 94.8 | 6.0 / 16.4 / 72.3 | 25.6 / 51.6 / 79.9 | Nov. 1, 2019, 9:50 a.m. |
| isrf_5k_o2s | 31.9 / 65.2 / 87.7 | 2.9 / 14.9 / 67.8 | 30.5 / 53.8 / 78.8 | July 28, 2020, 11:01 a.m. |
| NetVLAD (top-50) & D2-Net - single-scale | 30.0 / 67.8 / 94.4 | 1.4 / 10.8 / 67.5 | 25.7 / 51.9 / 79.9 | Sept. 26, 2019, 10:28 a.m. |
| KAPTURE-R2D2-APGeM | 31.9 / 66.6 / 92.5 | 0.5 / 5.8 / 89.2 | 30.5 / 54.2 / 78.5 | July 29, 2020, 12:31 p.m. |
| NetVLAD (top-20) & D2-Net - single-scale | 28.1 / 66.8 / 93.5 | 1.7 / 11.1 / 67.3 | 24.4 / 49.0 / 75.7 | Sept. 25, 2019, 3:05 p.m. |
| DenseVLAD (top-50) + Colmap Image Registrator | 30.6 / 63.3 / 82.4 | 1.9 / 12.0 / 58.2 | 21.6 / 44.4 / 69.3 | Sept. 24, 2019, 8:58 a.m. |
| Visual Localization Using Sparse Semantic 3D Map | 29.4 / 66.5 / 93.4 | 2.2 / 11.1 / 57.4 | 20.4 / 41.8 / 69.0 | June 2, 2019, 4 a.m. |
| DenseVLAD (top-20) + Colmap Image Registrator | 28.2 / 56.2 / 71.2 | 3.1 / 9.4 / 36.8 | 16.3 / 33.4 / 50.7 | April 30, 2019, 12:24 p.m. |
| Localizing Visual Landmarks for Place Recognition | 0.3 / 7.1 / 41.0 | 0.0 / 0.0 / 0.9 | 0.0 / 2.7 / 56.9 | June 2, 2019, 10:06 p.m. |
| DenseVLAD | 0.2 / 6.2 / 42.1 | 0.0 / 0.0 / 0.7 | 0.0 / 2.6 / 53.9 | April 18, 2019, 12:59 p.m. |
| ssadalm00 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | Aug. 13, 2023, 6:57 a.m. |
Symphony Seasons dataset
Localization thresholds:
- All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
| Method | winter overcast | spring sun | spring overcast | autumn overcast | Last updated |
|---|---|---|---|---|---|
| KAPTURE-R2D2-APGeM-20-RansacLib | 0.6 / 2.9 / 22.5 | 0.0 / 0.1 / 2.0 | 0.0 / 0.2 / 4.2 | 0.3 / 1.1 / 21.1 | Oct. 4, 2021, 1:34 p.m. |
Gangnam Station dataset
Localization thresholds:
- All conditions: (0.1m, 1°) / (0.25m, 2°) / (1m, 5°)
| Method | b1 | b2 | Last updated |
|---|---|---|---|
| KAPTURE-R2D2-FUSION-50 | 49.7 / 70.2 / 80.0 | 51.2 / 71.5 / 76.0 | Sept. 2, 2021, 7:53 a.m. |
| KAPTURE-ASLFeat-OpenIBL-50 | 45.1 / 63.9 / 73.5 | 48.0 / 65.2 / 69.9 | Sept. 2, 2021, 7:53 a.m. |
| KAPTURE-R2D2-APGeM-50 | 45.7 / 66.1 / 75.9 | 46.0 / 64.6 / 68.7 | Sept. 2, 2021, 7:53 a.m. |
| ONavi | 47.3 / 67.6 / 76.7 | 43.4 / 61.0 / 65.1 | July 19, 2021, 1:55 a.m. |
| KAPTURE-ASLFeat-DELG_gldv2-20 | 43.4 / 61.9 / 71.6 | 43.0 / 60.3 / 65.1 | Sept. 2, 2021, 7:54 a.m. |
| KAPTURE-R2D2-APGeM-20 | 42.9 / 62.4 / 72.6 | 42.4 / 59.7 / 63.8 | Sept. 2, 2021, 7:54 a.m. |
| KAPTURE-R2D2-OpenIBL-20 | 41.0 / 59.0 / 68.5 | 44.1 / 62.0 / 67.0 | Sept. 2, 2021, 7:54 a.m. |
| OSpace | 0.0 / 0.0 / 0.0 | 57.6 / 80.6 / 87.2 | Oct. 6, 2021, 2:09 p.m. |
| MegLoc | 0.0 / 0.0 / 0.0 | 55.9 / 77.5 / 82.8 | Oct. 7, 2021, 11 p.m. |
| COLMAP-SIFT-VocabTree | 32.2 / 49.7 / 59.8 | 37.8 / 55.0 / 61.1 | Sept. 2, 2021, 7:54 a.m. |
| kapture_r2d2_ApGeM20_map_ApGeM20 | 0.0 / 0.0 / 0.0 | 42.2 / 60.4 / 64.4 | Aug. 25, 2021, 6:20 a.m. |
| DeViLoc | 37.1 / 52.4 / 60.7 | 31.6 / 45.3 / 51.1 | April 18, 2024, 6:02 a.m. |
Hyundai Department Store dataset
Localization thresholds:
- All conditions: (0.1m, 1°) / (0.25m, 2°) / (1m, 5°)
| Method | 1f | 4f | b1 | Last updated |
|---|---|---|---|---|
| KAPTURE-R2D2-FUSION-50 | 88.6 / 92.3 / 98.3 | 88.1 / 93.4 / 96.1 | 80.1 / 85.3 / 93.8 | Sept. 2, 2021, 7:52 a.m. |
| DeViLoc | 86.9 / 91.5 / 96.3 | 88.7 / 93.7 / 96.1 | 78.5 / 84.2 / 93.7 | April 18, 2024, 6:02 a.m. |
| KAPTURE-ASLFeat-OpenIBL-50 | 88.0 / 91.8 / 97.4 | 86.6 / 91.0 / 93.9 | 78.2 / 84.3 / 93.5 | Sept. 2, 2021, 7:52 a.m. |
| KAPTURE-R2D2-APGeM-50 | 87.1 / 90.4 / 95.9 | 86.2 / 91.7 / 93.9 | 76.9 / 82.7 / 90.0 | Sept. 2, 2021, 7:52 a.m. |
| KAPTURE-R2D2-OpenIBL-20 | 86.6 / 91.2 / 96.7 | 85.7 / 90.5 / 93.0 | 75.7 / 82.0 / 90.7 | Sept. 2, 2021, 7:52 a.m. |
| KAPTURE-R2D2-APGeM-20 | 81.8 / 85.8 / 91.1 | 84.2 / 89.7 / 92.0 | 74.6 / 80.6 / 87.5 | Sept. 2, 2021, 7:53 a.m. |
| KAPTURE-ASLFeat-DELG_gldv2-20 | 83.4 / 87.3 / 91.5 | 81.8 / 87.1 / 89.8 | 74.6 / 79.9 / 88.7 | Sept. 2, 2021, 7:53 a.m. |
| COLMAP-SIFT-VocabTree | 78.8 / 84.3 / 87.7 | 64.5 / 70.0 / 73.0 | 65.9 / 72.7 / 78.7 | Sept. 2, 2021, 7:53 a.m. |
| R-SCoRe (LoFTR) | 63.2 / 82.4 / 92.4 | 62.2 / 82.7 / 90.9 | 26.9 / 50.7 / 69.6 | April 19, 2025, 7:13 p.m. |
| R-SCoRe (DeDoDe) | 61.4 / 80.2 / 90.9 | 60.2 / 79.3 / 87.9 | 60.1 / 77.3 / 89.6 | April 19, 2025, 7:13 p.m. |
| MegLoc | 90.2 / 94.5 / 99.7 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | Oct. 7, 2021, 11 p.m. |
| MegLoc | 0.0 / 0.0 / 0.0 | 89.8 / 94.8 / 97.2 | 0.0 / 0.0 / 0.0 | Oct. 26, 2021, 10:22 a.m. |
| OSpace | 89.2 / 93.8 / 99.6 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | Sept. 15, 2021, 3:50 a.m. |
| CoLoR | 0.0 / 0.0 / 0.0 | 80.9 / 89.9 / 93.0 | 0.0 / 0.0 / 0.0 | Nov. 8, 2025, 3:09 a.m. |
ETH-Microsoft dataset
Localization thresholds:
- All conditions: (0.1m, 1°) / (0.25m, 2°) / (1m, 5°)
| Method | Single Image | Multi-Camera Rig | Last updated |
|---|---|---|---|
| OSpace | 66.3 / 77.0 / 84.7 | 94.7 / 96.3 / 96.3 | Oct. 6, 2021, 2:11 p.m. |
| MegLoc | 67.0 / 78.0 / 85.0 | 92.0 / 94.7 / 95.3 | Oct. 8, 2021, 6:51 a.m. |
| 4Fun | 64.7 / 75.3 / 82.7 | 91.0 / 92.7 / 92.7 | Oct. 7, 2021, 6:44 p.m. |
| KAPTURE-R2D2-FUSION-50-RansacLib-Pycolmap-Rig | 58.7 / 69.0 / 77.0 | 92.0 / 92.0 / 92.0 | Sept. 2, 2021, 9:56 a.m. |
| hloc-multicamera-pycolmap-fusion | 60.0 / 70.3 / 77.3 | 82.7 / 87.7 / 89.3 | Sept. 14, 2021, 1:25 a.m. |
| KAPTURE-R2D2-FUSION-50-RansacLib | 58.7 / 69.0 / 77.0 | 85.0 / 86.0 / 86.0 | Sept. 2, 2021, 8:16 a.m. |
| KAPTURE-R2D2-FUSION-50-COLMAP-Config2 | 58.3 / 70.0 / 75.3 | 79.7 / 80.7 / 81.0 | Sept. 2, 2021, 7:59 a.m. |
| visloc_yt | 42.0 / 51.7 / 58.3 | 72.3 / 75.0 / 76.7 | Sept. 15, 2021, 8:49 a.m. |
| hloc (NetVLAD+SuperPoint+SuperGlue) | 41.0 / 51.7 / 57.7 | 70.0 / 74.3 / 75.0 | Aug. 30, 2021, 1:24 p.m. |
| kapture | 43.0 / 48.7 / 54.7 | 70.0 / 72.0 / 73.7 | July 25, 2023, 5:11 a.m. |
| xdhtop20 | 30.7 / 35.0 / 42.3 | 0.0 / 0.0 / 0.0 | Aug. 19, 2023, 5:36 a.m. |
| xdh | 25.3 / 32.3 / 38.7 | 0.0 / 0.0 / 0.0 | Aug. 19, 2023, 4:56 a.m. |
| xdhsift | 13.7 / 18.0 / 20.3 | 0.0 / 0.0 / 0.0 | Aug. 19, 2023, 4:59 a.m. |