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. |
| SuperGlue + Patch2Pix (HLoc) | 89.2 / 95.5 / 98.5 | 87.8 / 94.9 / 100.0 | March 25, 2021, 8:09 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. |
| 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 | April 12, 2021, 2:08 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. |
| test | 89.2 / 95.9 / 98.7 | 83.7 / 92.9 / 100.0 | April 21, 2021, 4:53 p.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. |
| NetVLAD+DISP | 88.8 / 95.1 / 98.2 | 82.7 / 90.8 / 96.9 | Oct. 27, 2020, 7:16 p.m. |
| ONavi | 85.7 / 93.7 / 98.9 | 81.6 / 91.8 / 100.0 | June 3, 2020, 2:49 a.m. |
| KAPTURE-R2D2-APGeM | 88.7 / 95.8 / 98.8 | 81.6 / 88.8 / 96.9 | July 29, 2020, 12:28 p.m. |
| Binux_20_SP | 88.2 / 94.9 / 97.9 | 84.7 / 91.8 / 98.0 | Dec. 7, 2020, 2:05 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. |
| 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. |
| spd2ms | 88.2 / 93.2 / 97.0 | 80.6 / 88.8 / 95.9 | April 22, 2020, 8:44 a.m. |
| rkpd2m_5k | 87.7 / 93.7 / 97.0 | 82.7 / 88.8 / 96.9 | April 22, 2020, 8:45 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. |
| CoTR | 82.4 / 91.9 / 96.8 | 75.5 / 90.8 / 99.0 | Feb. 17, 2021, 3:12 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. |
| 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. |
| D2-net | 84.3 / 91.9 / 96.2 | 75.5 / 87.8 / 95.9 | May 22, 2020, 8:54 a.m. |
| Hierarchical Localization - SuperPoint | 85.4 / 93.3 / 97.2 | 75.5 / 86.7 / 92.9 | July 19, 2020, 9:11 p.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. |
| 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. |
| 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. |
| Fine_GeM_SP | 78.5 / 87.3 / 93.8 | 67.3 / 80.6 / 86.7 | April 9, 2020, 11:41 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 | 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. |
| 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 | 76.2 / 86.4 / 93.4 | 64.3 / 77.6 / 96.9 | July 5, 2020, 4:37 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. |
| 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. |
| SuperPoint + SuperGlue [local feature challenge] | 0.0 / 0.0 / 0.0 | 79.6 / 90.8 / 100.0 | Dec. 29, 2020, 3:16 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. |
| R2D2 | 0.0 / 0.0 / 0.0 | 80.6 / 90.8 / 96.9 | April 9, 2021, 9:52 a.m. |
| d2net519 | 0.0 / 0.0 / 0.0 | 79.6 / 89.8 / 100.0 | May 19, 2020, 12:32 p.m. |
| R2D2_40K | 0.0 / 0.0 / 0.0 | 76.5 / 90.8 / 100.0 | May 18, 2020, 4:15 p.m. |
| ASLFeat (10k) + OANet | 0.0 / 0.0 / 0.0 | 77.6 / 89.8 / 100.0 | March 20, 2020, 4:57 a.m. |
| R2D2 V2 20K | 0.0 / 0.0 / 0.0 | 75.5 / 90.8 / 100.0 | May 18, 2020, 4:14 p.m. |
| nori | 78.5 / 85.6 / 91.5 | 64.3 / 78.6 / 89.8 | Jan. 25, 2021, 1:07 p.m. |
| CA-R2D2 | 0.0 / 0.0 / 0.0 | 78.6 / 88.8 / 100.0 | May 27, 2020, 4:47 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:40n:5 | 77.2 / 84.8 / 92.6 | 67.3 / 77.6 / 86.7 | Aug. 23, 2020, 8:34 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. |
| 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:10n:10 | 76.9 / 85.8 / 91.0 | 65.3 / 76.5 / 86.7 | Aug. 23, 2020, 8:32 a.m. |
| sd2ss_zoo4cro_supersc_p2 | 0.0 / 0.0 / 0.0 | 74.5 / 88.8 / 100.0 | May 24, 2020, 7:24 p.m. |
| sp4k_SGMNet_com | 0.0 / 0.0 / 0.0 | 77.6 / 88.8 / 99.0 | May 21, 2021, 5:55 a.m. |
| sd2ss_superSC_all | 0.0 / 0.0 / 0.0 | 77.6 / 86.7 / 100.0 | May 23, 2020, 11:56 a.m. |
| HF_SG | 76.2 / 83.6 / 90.8 | 65.3 / 78.6 / 88.8 | July 2, 2020, 2:09 a.m. |
| DFC-Net | 0.0 / 0.0 / 0.0 | 73.5 / 87.8 / 100.0 | Sept. 19, 2019, 12:56 p.m. |
| HFnet | 76.2 / 85.4 / 91.9 | 62.2 / 73.5 / 81.6 | June 22, 2020, 12:14 p.m. |
| CAPS+SIFT kp | 0.0 / 0.0 / 0.0 | 77.6 / 86.7 / 99.0 | Oct. 12, 2020, 8:55 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. |
| 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. |
| D2net | 0.0 / 0.0 / 0.0 | 75.5 / 85.7 / 100.0 | July 3, 2020, 2:20 p.m. |
| sgnet-vl | 0.0 / 0.0 / 0.0 | 72.4 / 85.7 / 100.0 | Oct. 1, 2019, 11:47 a.m. |
| coarse2fine | 73.2 / 84.5 / 92.8 | 51.0 / 68.4 / 87.8 | May 24, 2020, 2:03 p.m. |
| densecontextdesc10k_upright_mixedmatcher | 0.0 / 0.0 / 0.0 | 75.5 / 84.7 / 99.0 | July 16, 2019, 11:13 a.m. |
| HSC-Net | 71.1 / 81.9 / 91.7 | 40.8 / 56.1 / 76.5 | Nov. 27, 2019, 7:09 p.m. |
| R2D2 10k keypoints | 0.0 / 0.0 / 0.0 | 74.5 / 83.7 / 100.0 | June 17, 2019, 9:56 a.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. |
| LLF-detector + R2D2-10K | 0.0 / 0.0 / 0.0 | 72.4 / 90.8 / 99.0 | April 12, 2021, 6:42 a.m. |
| swnet-single | 0.0 / 0.0 / 0.0 | 72.4 / 88.8 / 99.0 | Oct. 17, 2019, 9 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. |
| hpf | 0.0 / 0.0 / 0.0 | 74.5 / 83.7 / 99.0 | May 25, 2020, 8:02 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. |
| Active Search v1.1 | 85.3 / 92.2 / 97.9 | 39.8 / 49.0 / 64.3 | April 26, 2020, 9:27 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| DGCNCCC | 22.9 / 49.8 / 84.7 | 14.3 / 37.8 / 79.6 | May 30, 2019, 10:17 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. |
| NetVLAD+SuperPoint top 10 (baseline) | 33.9 / 48.8 / 78.5 | 4.1 / 28.6 / 73.5 | June 1, 2019, 8:59 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. |
| Upright RootSIFT (Feature Challenge Baseline) | 0.0 / 0.0 / 0.0 | 54.1 / 66.3 / 75.5 | May 2, 2019, 8:57 a.m. |
| ESAC (50 Experts) | 42.6 / 59.6 / 75.5 | 6.1 / 10.2 / 18.4 | Aug. 8, 2019, 7:14 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. |
| d2-net | 0.0 / 0.0 / 0.0 | 36.7 / 40.8 / 46.9 | Sept. 30, 2020, 7:40 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. |
| 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. |
| d2-net | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 1.0 | Sept. 30, 2020, 1:50 p.m. |
Aachen Day-Night v1.1 dataset
Localization thresholds:
- All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
| Method | day | night | Last updated |
|---|---|---|---|
| ONavi-Line-test | 90.0 / 96.0 / 99.5 | 79.1 / 92.1 / 100.0 | May 18, 2021, 7:17 a.m. |
| KAPTURE-R2D2-FUSION | 90.9 / 96.7 / 99.5 | 78.5 / 91.1 / 98.4 | Sept. 1, 2020, 6:22 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. |
| ONavi-Line | 89.3 / 95.9 / 99.5 | 78.5 / 90.6 / 100.0 | May 18, 2021, 6:37 a.m. |
| LoFTR | 88.7 / 95.6 / 99.0 | 78.5 / 90.6 / 99.0 | April 9, 2021, 1:38 a.m. |
| ONavi-V2.0 | 88.6 / 95.1 / 99.5 | 75.9 / 90.6 / 100.0 | March 18, 2021, 2:07 a.m. |
| KAPTURE-R2D2-APGeM | 90.0 / 96.2 / 99.5 | 72.3 / 86.4 / 97.9 | Sept. 1, 2020, 6:23 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. |
| isrf_5k_o2s | 87.1 / 94.7 / 98.3 | 74.3 / 86.9 / 97.4 | July 29, 2020, 12:13 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. |
| SuperPoint + SuperGlue [local feature challenge] | 0.0 / 0.0 / 0.0 | 73.3 / 88.0 / 98.4 | Dec. 29, 2020, 3:17 p.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. |
| 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. |
| 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. |
| DualRC-Net 2048 | 0.0 / 0.0 / 0.0 | 67.5 / 85.9 / 97.4 | Aug. 12, 2020, 4:19 a.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. |
CMU Seasons dataset
Localization thresholds:
- All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
| Method | urban | suburban | park | Last updated |
|---|---|---|---|---|
| SEM+IS+RPSC | 97.3 / 98.4 / 99.2 | 93.6 / 96.3 / 98.4 | 84.4 / 89.4 / 93.9 | March 31, 2021, 3:40 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. |
| Geometric Prior Guided Camera Localization | 93.5 / 96.0 / 98.3 | 81.1 / 87.6 / 94.5 | 67.1 / 76.1 / 86.1 | March 1, 2020, 10:14 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. |
| 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. |
| 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. |
| 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. |
Extended CMU Seasons dataset
Localization thresholds:
- All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
| Method | urban | suburban | park | Last updated |
|---|---|---|---|---|
| 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. |
| 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. |
| Sequence_Enhance | 95.3 / 98.6 / 99.5 | 92.8 / 95.9 / 98.3 | 89.8 / 93.4 / 95.5 | Feb. 27, 2021, 4:02 a.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. |
| 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. |
| 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. |
| 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. |
| 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. |
| 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. |
RobotCar Seasons dataset
Localization thresholds:
- All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
| Method | day all | night all | Last updated |
|---|---|---|---|
| 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. |
| 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. |
| RT_AP_IR+CRBNet | 55.3 / 81.8 / 98.5 | 11.5 / 26.5 / 39.2 | March 6, 2020, 2:38 a.m. |
| KAPTURE-R2D2-APGeM | 55.1 / 82.1 / 97.3 | 28.8 / 58.8 / 89.4 | July 29, 2020, 12:30 p.m. |
| SuperPoint + SuperGlue | 54.4 / 81.6 / 96.7 | 25.2 / 59.7 / 90.1 | June 3, 2021, 3:53 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. |
| 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. |
| DenseVLAD | 7.6 / 31.2 / 91.2 | 1.0 / 4.4 / 22.7 | April 11, 2019, 5:44 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. |
| 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. |
| DISAM(coarse-only) | 7.4 / 25.8 / 77.6 | 3.3 / 8.7 / 24.8 | Sept. 17, 2020, 3:23 a.m. |
| NetVLAD | 6.4 / 26.3 / 90.9 | 0.3 / 2.3 / 15.9 | June 2, 2019, 9:12 a.m. |
| DIFL+FCL | 7.6 / 26.2 / 75.9 | 2.5 / 6.5 / 15.8 | April 3, 2020, 3:34 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. |
| 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 |
|---|---|---|---|
| KAPTURE-R2D2-FUSION | 66.0 / 95.1 / 100.0 | 46.2 / 76.5 / 91.4 | Sept. 1, 2020, 6:23 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. |
| 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 |
|---|---|---|---|
| LineLoc | 54.0 / 81.8 / 98.0 | 76.3 / 91.6 / 93.9 | April 7, 2021, 10:09 a.m. |
| ONavi-V2.0 | 54.0 / 81.8 / 98.0 | 76.3 / 90.8 / 93.9 | March 18, 2021, 2:07 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. |
| 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. |
| 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. |
| DensePE+Sparse-NCNet+DensePV | 47.0 / 67.2 / 79.8 | 43.5 / 64.9 / 80.2 | May 13, 2020, 3:03 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. |
| hloc | 47.0 / 66.7 / 78.3 | 51.9 / 71.8 / 77.9 | July 30, 2020, 9:04 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. |
| Hierarchical Localization - SuperPoint + SuperGlue | 46.5 / 65.7 / 77.8 | 51.9 / 72.5 / 79.4 | July 19, 2020, 5:11 p.m. |
| Patch2Pix (HLoc) | 44.4 / 66.7 / 78.3 | 49.6 / 64.9 / 72.5 | March 25, 2021, 8:11 p.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. |
| 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. |
| 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. |
| INLOC_PE | 34.8 / 46.0 / 59.1 | 31.3 / 39.7 / 50.4 | Nov. 26, 2019, 12:01 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. |
| 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 |
|---|---|---|---|---|
| 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-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. |
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 |
|---|
Gangnam Station dataset
Localization thresholds:
- All conditions: (0.1m, 1°) / (0.25m, 2°) / (1m, 5°)
| Method | b1 | b2 | Last updated |
|---|---|---|---|
| KAPTURE-ASLFeat-DELG_gldv2-20 | 43.4 / 61.9 / 71.6 | 43.0 / 60.3 / 65.1 | June 7, 2021, 8:59 a.m. |
| KAPTURE-R2D2-APGeM-20 | 42.9 / 62.4 / 72.6 | 42.4 / 59.7 / 63.8 | June 7, 2021, 9:01 a.m. |
| KAPTURE-R2D2-OpenIBL-20 | 41.0 / 59.0 / 68.5 | 44.1 / 62.0 / 67.0 | June 11, 2021, 11:28 a.m. |
| COLMAP-SIFT-VocabTree | 32.2 / 49.7 / 59.8 | 37.8 / 55.0 / 61.1 | June 7, 2021, 8:51 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-OpenIBL-20 | 86.6 / 91.2 / 96.7 | 85.7 / 90.5 / 93.0 | 75.7 / 82.0 / 90.7 | June 11, 2021, 11:27 a.m. |
| KAPTURE-R2D2-APGeM-20 | 81.8 / 85.8 / 91.1 | 84.2 / 89.7 / 92.0 | 74.6 / 80.6 / 87.5 | June 7, 2021, 9:01 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 | June 7, 2021, 8:59 a.m. |
| COLMAP-SIFT-VocabTree | 78.8 / 84.3 / 87.7 | 64.5 / 70.0 / 73.0 | 65.9 / 72.7 / 78.7 | June 7, 2021, 8:51 a.m. |