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 |
|---|---|---|---|
| Combined tuned HLoc | 89.7 / 95.8 / 98.7 | 87.8 / 94.9 / 100.0 | June 14, 2021, 2:03 p.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. |
| 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. |
| ONavi-V2.0 | 88.6 / 95.1 / 99.5 | 86.7 / 93.9 / 100.0 | March 18, 2021, 2:07 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. |
| Binux_50_GP | 89.2 / 95.5 / 98.8 | 87.8 / 92.9 / 100.0 | Nov. 10, 2022, 12:05 p.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. |
| 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. |
| hloc | 89.3 / 96.0 / 98.5 | 84.7 / 91.8 / 100.0 | July 24, 2020, 2:36 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. |
| all | 88.0 / 95.6 / 98.8 | 84.7 / 94.9 / 100.0 | June 26, 2021, 6:45 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. |
| baseline_n2048-r1024 | 88.1 / 94.7 / 98.2 | 79.6 / 92.9 / 98.0 | Oct. 31, 2022, 6:09 a.m. |
| ONavi | 85.7 / 93.7 / 98.9 | 81.6 / 91.8 / 100.0 | June 3, 2020, 2:49 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. |
| 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. |
| 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. |
| 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. |
| aslfeat2048+sg | 85.3 / 93.9 / 98.2 | 72.4 / 88.8 / 96.9 | Aug. 24, 2021, 2:40 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. |
| spd2ms | 88.2 / 93.2 / 97.0 | 80.6 / 88.8 / 95.9 | April 22, 2020, 8:44 a.m. |
| Patch2Pix (HLoc) | 84.6 / 92.1 / 96.5 | 82.7 / 92.9 / 99.0 | March 25, 2021, 8:04 p.m. |
| GO_r2d2_best | 84.2 / 92.6 / 97.0 | 77.6 / 87.8 / 96.9 | May 24, 2020, 4:15 p.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. |
| CoTR | 82.4 / 91.9 / 96.8 | 75.5 / 90.8 / 99.0 | Feb. 17, 2021, 3:12 a.m. |
| NV+SP_Covisible | 86.4 / 94.3 / 97.8 | 69.4 / 83.7 / 95.9 | Nov. 23, 2021, 7 a.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. |
| Hierarchical Localization - SuperPoint | 85.4 / 93.3 / 97.2 | 75.5 / 86.7 / 92.9 | July 19, 2020, 9:11 p.m. |
| RT_AP_IR+CRBNet | 76.2 / 93.0 / 98.9 | 66.3 / 86.7 / 96.9 | March 6, 2020, 2:37 a.m. |
| GO_R2D2 | 82.9 / 90.2 / 95.8 | 77.6 / 87.8 / 96.9 | May 20, 2020, 2:05 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. |
| 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. |
| 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. |
| UP_RD2_NV | 84.7 / 92.1 / 96.6 | 72.4 / 82.7 / 88.8 | April 16, 2020, 9:56 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. |
| 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. |
| 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. |
| ONavi-H | 77.7 / 89.0 / 95.8 | 68.4 / 86.7 / 96.9 | Sept. 24, 2019, 9:31 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. |
| 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. |
| IR30+ML | 77.1 / 90.5 / 97.5 | 66.3 / 76.5 / 92.9 | Aug. 2, 2019, 12:31 p.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. |
| 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. |
| Fine_GeM_SP | 78.5 / 87.3 / 93.8 | 67.3 / 80.6 / 86.7 | April 9, 2020, 11:41 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. |
| 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. |
| NeuMap | 80.8 / 90.9 / 95.6 | 48.0 / 67.3 / 87.8 | Oct. 30, 2022, 9:16 p.m. |
| MaKeGNN+root | 83.9 / 91.3 / 95.6 | 66.3 / 75.5 / 87.8 | June 13, 2023, 8:14 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. |
| ALL_NV_SP | 79.6 / 87.1 / 93.8 | 64.3 / 75.5 / 88.8 | April 3, 2020, 10:42 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. |
| 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. |
| TopicFM [local feature challenge] | 0.0 / 0.0 / 0.0 | 77.6 / 91.8 / 100.0 | Oct. 24, 2022, 6:27 a.m. |
| multi-att4 | 0.0 / 0.0 / 0.0 | 77.6 / 91.8 / 100.0 | May 25, 2023, 2:56 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. |
| 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. |
| CAPS+SuperPoint kp | 0.0 / 0.0 / 0.0 | 82.7 / 87.8 / 100.0 | Oct. 12, 2020, 8:54 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. |
| 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. |
| disk-att5 | 0.0 / 0.0 / 0.0 | 77.6 / 90.8 / 100.0 | June 1, 2023, 7:12 a.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. |
| multi-att | 0.0 / 0.0 / 0.0 | 76.5 / 90.8 / 100.0 | May 24, 2023, 6:42 a.m. |
| multi-att | 0.0 / 0.0 / 0.0 | 76.5 / 90.8 / 100.0 | May 24, 2023, 7:41 a.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. |
| 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. |
| CA-R2D2 | 0.0 / 0.0 / 0.0 | 78.6 / 88.8 / 100.0 | May 27, 2020, 4:47 a.m. |
| OaFeat100_200 | 0.0 / 0.0 / 0.0 | 78.6 / 88.8 / 100.0 | April 14, 2023, 9:27 a.m. |
| aliked_n_32_1k | 0.0 / 0.0 / 0.0 | 77.6 / 88.8 / 100.0 | Nov. 22, 2022, 1:37 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. |
| nori | 78.5 / 85.6 / 91.5 | 64.3 / 78.6 / 89.8 | Jan. 25, 2021, 1:07 p.m. |
| Patch2Pix (Night only) | 0.0 / 0.0 / 0.0 | 79.6 / 87.8 / 100.0 | March 25, 2021, 8:06 p.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. |
| aliked_n_16_2k | 0.0 / 0.0 / 0.0 | 80.6 / 87.8 / 99.0 | Nov. 22, 2022, 1:37 p.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. |
| 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: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. |
| OaFeat_badreward-03 | 0.0 / 0.0 / 0.0 | 79.6 / 88.8 / 99.0 | April 27, 2023, 5:23 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. |
| 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-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. |
| HFnet | 76.2 / 85.4 / 91.9 | 62.2 / 73.5 / 81.6 | June 22, 2020, 12:14 p.m. |
| sp4k_SGMNet_com | 0.0 / 0.0 / 0.0 | 77.6 / 88.8 / 99.0 | May 21, 2021, 5:55 a.m. |
| ALIKE-N(unlimited) | 0.0 / 0.0 / 0.0 | 77.6 / 87.8 / 100.0 | July 18, 2022, 11:49 a.m. |
| SceneSqueezer | 75.5 / 89.7 / 96.2 | 50.0 / 67.3 / 78.6 | Nov. 8, 2021, 11:46 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. |
| NeuMap (160MB) | 76.2 / 88.5 / 95.5 | 37.8 / 62.2 / 87.8 | Nov. 18, 2022, 1:55 a.m. |
| OaFeat_n7_thr9 | 0.0 / 0.0 / 0.0 | 79.6 / 87.8 / 99.0 | May 9, 2023, 6:38 p.m. |
| DFC-Net | 0.0 / 0.0 / 0.0 | 73.5 / 87.8 / 100.0 | Sept. 19, 2019, 12:56 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. |
| 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. |
| 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. |
| 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. |
| sd2ss_superSC_all | 0.0 / 0.0 / 0.0 | 77.6 / 86.7 / 100.0 | May 23, 2020, 11:56 a.m. |
| PixLoc (end-to-end) | 61.7 / 67.6 / 74.8 | 46.9 / 53.1 / 64.3 | Nov. 19, 2020, 3:32 p.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. |
| 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. |
| 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. |
| pl_pixloc | 58.9 / 66.3 / 68.8 | 28.6 / 54.1 / 60.2 | Feb. 7, 2023, 10:17 a.m. |
| OaFeat_daoshudi1 | 0.0 / 0.0 / 0.0 | 78.6 / 86.7 / 99.0 | May 10, 2023, 6:26 a.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. |
| 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. |
| 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. |
| wl-net | 0.0 / 0.0 / 0.0 | 78.6 / 87.8 / 98.0 | Feb. 27, 2023, 12:24 p.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. |
| 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. |
| HesAffNet-HardNet2 | 0.0 / 0.0 / 0.0 | 58.2 / 72.4 / 83.7 | May 31, 2019, 10:35 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. |
| 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. |
| 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 (50 Experts) | 42.6 / 59.6 / 75.5 | 6.1 / 10.2 / 18.4 | Aug. 8, 2019, 7:14 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. |
| ESAC (20 Experts) | 39.7 / 55.9 / 77.8 | 1.0 / 4.1 / 14.3 | Aug. 8, 2019, 7:13 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. |
| 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. |
| SuperPoint + SuperGlue (Zero-Shot) | 90.3 / 96.4 / 99.4 | 78.0 / 90.6 / 100.0 | Aug. 19, 2023, 5:55 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. |
| DFM | 90.3 / 96.5 / 99.5 | 74.3 / 91.6 / 99.5 | Nov. 30, 2021, 1:43 a.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. |
| Hierarchical Localization - SuperPoint + SuperGlue | 89.8 / 96.1 / 99.4 | 77.0 / 90.6 / 100.0 | Aug. 14, 2020, 7:35 a.m. |
| AdaMatcher-Quad | 89.2 / 95.9 / 99.2 | 79.1 / 92.1 / 99.5 | Oct. 28, 2022, 2:32 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. |
| PATS | 89.6 / 95.8 / 99.3 | 73.8 / 92.1 / 99.5 | Nov. 12, 2022, 1:22 a.m. |
| AdaMatcher | 89.2 / 96.0 / 99.3 | 79.1 / 90.6 / 99.5 | March 7, 2022, 2:11 p.m. |
| ASTR | 89.9 / 95.6 / 99.2 | 76.4 / 92.1 / 99.5 | Jan. 27, 2023, 4:13 p.m. |
| online2 | 90.2 / 95.5 / 98.9 | 79.6 / 91.1 / 99.5 | Dec. 3, 2022, 6:52 p.m. |
| realmask_1024 | 89.9 / 96.2 / 98.9 | 79.1 / 90.6 / 99.5 | May 3, 2023, 9:25 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. |
| ONavi-V2.0 | 88.6 / 95.1 / 99.5 | 75.9 / 90.6 / 100.0 | March 18, 2021, 2:07 a.m. |
| e20-allt-allt | 89.6 / 96.4 / 99.3 | 74.9 / 91.1 / 99.5 | Nov. 2, 2021, 1:53 a.m. |
| e20-h100 | 89.7 / 96.2 / 99.3 | 73.8 / 90.1 / 99.5 | Nov. 29, 2021, 11:26 a.m. |
| DKM (Zero-Shot) | 89.7 / 95.9 / 99.2 | 77.0 / 90.1 / 99.5 | Aug. 19, 2023, 5:31 a.m. |
| SuperGlue + Patch2Pix (HLoc) | 89.3 / 95.8 / 99.2 | 78.0 / 90.6 / 99.0 | June 16, 2021, 6:43 p.m. |
| LoFTR | 88.7 / 95.6 / 99.0 | 78.5 / 90.6 / 99.0 | April 9, 2021, 1:38 a.m. |
| e20-h500 | 89.0 / 96.0 / 99.0 | 74.9 / 90.6 / 99.5 | Nov. 15, 2021, 1:34 a.m. |
| SATR | 88.1 / 95.5 / 99.2 | 78.5 / 91.6 / 99.5 | Nov. 17, 2021, 3:12 a.m. |
| MeshLoc (real images, LoFTR) | 88.7 / 95.1 / 98.7 | 78.0 / 92.7 / 99.5 | Sept. 21, 2022, 1:43 p.m. |
| sfd2_4000kpts_netvlad50 | 88.2 / 96.0 / 98.7 | 78.0 / 92.1 / 99.5 | May 1, 2023, 11:14 a.m. |
| imp_4kpoints_netvlad50 | 89.1 / 95.4 / 99.0 | 75.9 / 92.7 / 99.5 | May 1, 2023, 11:10 a.m. |
| e17-h500 | 89.7 / 96.1 / 99.0 | 74.3 / 90.6 / 99.0 | Nov. 15, 2021, 1:33 a.m. |
| KAPTURE-R2D2-APGeM | 90.0 / 96.2 / 99.5 | 72.3 / 86.4 / 97.9 | Sept. 1, 2020, 6:23 a.m. |
| superpoint+superglue baseline | 89.0 / 96.0 / 99.4 | 72.3 / 89.0 / 97.9 | Sept. 25, 2021, 5:24 a.m. |
| RLOCS | 88.8 / 95.4 / 99.0 | 74.3 / 90.6 / 98.4 | Sept. 24, 2020, 2:20 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. |
| isrf_5k_o2s | 87.1 / 94.7 / 98.3 | 74.3 / 86.9 / 97.4 | July 29, 2020, 12:13 p.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. |
| D^2Former | 0.0 / 0.0 / 0.0 | 74.3 / 89.0 / 99.5 | Feb. 1, 2023, 7:19 a.m. |
| SCFeat | 0.0 / 0.0 / 0.0 | 74.3 / 89.0 / 98.4 | Dec. 16, 2022, 9:23 a.m. |
| LoFTR [local feature challenge] | 0.0 / 0.0 / 0.0 | 72.8 / 88.5 / 99.0 | April 9, 2021, 1:36 a.m. |
| TaSP+official_matchlist | 0.0 / 0.0 / 0.0 | 74.3 / 88.0 / 97.9 | March 6, 2023, 1:13 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. |
| PoSFeat | 0.0 / 0.0 / 0.0 | 73.8 / 87.4 / 98.4 | Aug. 8, 2022, 8:57 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| xdh | 83.3 / 90.4 / 93.7 | 61.3 / 77.0 / 85.3 | Aug. 7, 2023, 4:51 a.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. |
| test1 | 76.5 / 85.9 / 94.1 | 34.6 / 41.4 / 49.7 | July 11, 2020, 10:07 a.m. |
| LLF-Detector + R2D2-10K | 0.0 / 0.0 / 0.0 | 71.2 / 81.2 / 94.2 | April 16, 2021, 10:12 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. |
| 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. |
| 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. |
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. |
| 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. |
| 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. |
| Robust Representation and Sequence Constraint | 18.0 / 43.6 / 92.2 | 7.0 / 23.0 / 90.4 | 8.4 / 28.5 / 87.0 | June 10, 2023, 7:33 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| 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 |
|---|---|---|---|
| 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 - SuperPoint + SuperGlue (multi-camera) | 55.7 / 82.0 / 97.6 | 37.7 / 71.5 / 91.1 | Nov. 14, 2020, 2:13 p.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. |
| 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. |
| 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. |
| 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. |
| 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. |
| DGCNCCC | 7.2 / 28.3 / 87.6 | 0.0 / 1.1 / 13.4 | May 21, 2019, 7:38 a.m. |
| MDAG | 8.5 / 30.7 / 74.9 | 1.4 / 3.8 / 9.9 | Oct. 5, 2022, 8:15 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 | May 25, 2023, 4:36 a.m. |
| PCLoc (4,096) | 60.6 / 79.8 / 90.4 | 70.2 / 92.4 / 93.1 | Nov. 17, 2020, 8 a.m. |
| PCLoc (3,000) | 59.6 / 78.3 / 89.4 | 71.0 / 93.1 / 93.9 | Nov. 17, 2020, 8:04 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. |
| MegLoc | 50.5 / 73.7 / 88.9 | 59.5 / 86.3 / 91.6 | Oct. 8, 2021, 6:36 a.m. |
| hloc + DKM | 51.5 / 75.3 / 86.9 | 63.4 / 82.4 / 87.8 | Feb. 2, 2023, 5:23 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. |
| FMAP | 52.0 / 72.2 / 85.4 | 56.5 / 78.6 / 87.8 | March 29, 2023, 7:20 a.m. |
| MRMatcher | 50.5 / 75.8 / 85.9 | 56.5 / 75.6 / 86.3 | Aug. 20, 2023, 5:12 a.m. |
| OSpace | 52.5 / 73.2 / 85.4 | 66.4 / 79.4 / 82.4 | Sept. 17, 2021, 8:40 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. |
| DSAP | 51.5 / 74.7 / 85.4 | 60.3 / 77.1 / 84.0 | Aug. 20, 2023, 5:24 a.m. |
| CorMatcher | 50.5 / 73.7 / 84.3 | 55.0 / 76.3 / 85.5 | March 24, 2023, 8:49 a.m. |
| tmp | 48.5 / 70.7 / 85.4 | 59.5 / 80.9 / 84.7 | Oct. 26, 2021, 7:01 a.m. |
| TopicFM | 52.0 / 74.7 / 87.4 | 53.4 / 74.8 / 83.2 | June 19, 2022, 2:06 p.m. |
| CasMTR | 53.5 / 76.8 / 85.4 | 51.9 / 70.2 / 83.2 | Nov. 11, 2022, 3:46 a.m. |
| costvolumerefine | 52.0 / 72.2 / 84.8 | 54.2 / 75.6 / 84.7 | April 2, 2023, 2:53 p.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. |
| online0.1 | 51.5 / 72.7 / 84.3 | 54.2 / 76.3 / 83.2 | Dec. 8, 2022, 2:57 a.m. |
| LoFTR | 47.5 / 72.2 / 84.8 | 54.2 / 74.8 / 85.5 | April 11, 2021, 6:38 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. |
| SuperGlue + Patch2Pix (HLoc) | 50.0 / 68.2 / 81.8 | 57.3 / 77.9 / 80.2 | March 25, 2021, 8:13 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. |
| ONavi | 41.9 / 68.2 / 84.3 | 50.4 / 76.3 / 80.2 | June 3, 2020, 2:49 a.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. |
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. |
| 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. |
| 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. |
| 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. |
| 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. |
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. |