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:
- Day: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
- Night: (0.5m, 2°) / (1m, 5°) / (5m, 10°)
| Method | day | night | Last updated |
|---|---|---|---|
| ONavi | 85.7 / 93.7 / 98.9 | 48.0 / 71.4 / 88.8 | May 21, 2020, 2:39 a.m. |
| Hierarchical-Localization + SuperGlue | 89.6 / 96.1 / 98.8 | 44.9 / 71.4 / 88.8 | May 25, 2020, 6:04 a.m. |
| Visual Localization Using Dense Semantic 3D Map And Hybrid Features | 90.3 / 95.5 / 97.9 | 44.9 / 67.3 / 87.8 | May 25, 2020, 6:26 a.m. |
| KAPTURE-R2D2-APGeM | 88.7 / 95.8 / 98.8 | 44.9 / 62.2 / 85.7 | May 24, 2020, 8:42 p.m. |
| rkpd2m_5k | 87.7 / 93.7 / 97.0 | 42.9 / 66.3 / 85.7 | April 22, 2020, 8:45 a.m. |
| NetVLAD (top-20) & D2-Net - multi-scale | 84.8 / 92.6 / 97.5 | 43.9 / 66.3 / 85.7 | Nov. 1, 2019, 9:49 a.m. |
| spd2ms | 88.2 / 93.2 / 97.0 | 42.9 / 66.3 / 84.7 | April 22, 2020, 8:44 a.m. |
| Geometric Prior Guided Camera Localization | 86.0 / 92.8 / 97.6 | 42.9 / 63.3 / 85.7 | March 1, 2020, 10:15 a.m. |
| RT_AP_IR+CRBNet | 76.2 / 93.0 / 98.9 | 41.8 / 64.3 / 85.7 | March 6, 2020, 2:37 a.m. |
| D2-net | 84.3 / 91.9 / 96.2 | 43.9 / 68.4 / 84.7 | May 22, 2020, 8:54 a.m. |
| ONavi-H | 77.7 / 89.0 / 95.8 | 49.0 / 65.3 / 85.7 | Sept. 24, 2019, 9:31 a.m. |
| nv-sp-gp | 83.9 / 92.0 / 97.6 | 46.9 / 63.3 / 84.7 | May 25, 2020, 6:51 a.m. |
| GO_r2d2_best | 84.2 / 92.6 / 97.0 | 42.9 / 63.3 / 85.7 | May 24, 2020, 4:15 p.m. |
| GO_R2D2 | 82.9 / 90.2 / 95.8 | 42.9 / 63.3 / 85.7 | May 20, 2020, 2:05 a.m. |
| UR2KID (global: ur2kid-top20, local: ur2kid-single-scale) | 79.9 / 88.6 / 93.6 | 45.9 / 64.3 / 83.7 | Nov. 29, 2019, 4:36 p.m. |
| IR30+ML | 77.1 / 90.5 / 97.5 | 43.9 / 61.2 / 82.7 | Aug. 2, 2019, 12:31 p.m. |
| UP_RD2_NV | 84.7 / 92.1 / 96.6 | 42.9 / 59.2 / 77.6 | April 16, 2020, 9:56 a.m. |
| Visual Localization Using Sparse Semantic 3D Map | 71.8 / 91.5 / 96.8 | 40.8 / 63.3 / 80.6 | June 2, 2019, 4 a.m. |
| DenseVLAD (top-50) & D2-Net - multi-scale | 83.1 / 90.9 / 95.5 | 40.8 / 62.2 / 80.6 | Nov. 1, 2019, 9:49 a.m. |
| ONavi | 0.0 / 0.0 / 0.0 | 48.0 / 71.4 / 88.8 | May 21, 2020, 2:40 a.m. |
| Fine_NV_SP | 81.1 / 89.4 / 95.5 | 40.8 / 60.2 / 80.6 | April 6, 2020, 2:56 p.m. |
| Hierarchical-Localization NetVLAD+SuperPoint | 80.5 / 87.4 / 94.2 | 42.9 / 62.2 / 76.5 | June 1, 2019, 9:50 a.m. |
| Hierarchical-Localization (multi-camera when available) | 80.5 / 87.4 / 94.2 | 42.9 / 62.2 / 76.5 | June 2, 2019, 6:55 a.m. |
| ALL_NV_SP | 79.6 / 87.1 / 93.8 | 39.8 / 61.2 / 77.6 | April 3, 2020, 10:42 a.m. |
| Fine_GeM_SP | 78.5 / 87.3 / 93.8 | 41.8 / 58.2 / 75.5 | April 9, 2020, 11:41 a.m. |
| ASLFeat (10k) + OANet | 0.0 / 0.0 / 0.0 | 48.0 / 67.3 / 88.8 | March 20, 2020, 4:57 a.m. |
| R2D2_40K | 0.0 / 0.0 / 0.0 | 48.0 / 67.3 / 88.8 | May 18, 2020, 4:15 p.m. |
| DenseVLAD & D2-Net (top-20) | 80.1 / 88.0 / 93.4 | 39.8 / 55.1 / 74.5 | Oct. 31, 2019, 12:58 a.m. |
| SuperPoint + SuperGlue | 0.0 / 0.0 / 0.0 | 45.9 / 70.4 / 88.8 | March 18, 2020, 3:14 p.m. |
| sd2ss_zoo4cro_supersc_p2 | 0.0 / 0.0 / 0.0 | 45.9 / 70.4 / 88.8 | May 24, 2020, 7:24 p.m. |
| UR2KID Scape Technologies (paper coming soon, not scene specific, single scale) | 0.0 / 0.0 / 0.0 | 46.9 / 67.3 / 88.8 | July 3, 2019, 3:39 p.m. |
| PoseDesc+SuperPoint kp | 0.0 / 0.0 / 0.0 | 45.9 / 69.4 / 88.8 | March 13, 2020, 5:34 p.m. |
| d2net519 | 0.0 / 0.0 / 0.0 | 45.9 / 69.4 / 88.8 | May 19, 2020, 12:32 p.m. |
| D2-Net - single-scale | 0.0 / 0.0 / 0.0 | 45.9 / 68.4 / 88.8 | July 16, 2019, 12:21 p.m. |
| R2D2 V2 20K | 0.0 / 0.0 / 0.0 | 46.9 / 66.3 / 88.8 | May 18, 2020, 4:14 p.m. |
| CA-R2D2 | 0.0 / 0.0 / 0.0 | 48.0 / 65.3 / 88.8 | May 22, 2020, 11:04 a.m. |
| sd2ss_superSC_all | 0.0 / 0.0 / 0.0 | 44.9 / 71.4 / 88.8 | May 23, 2020, 11:56 a.m. |
| coarse2fine | 73.2 / 84.5 / 92.8 | 31.6 / 54.1 / 76.5 | May 24, 2020, 2:03 p.m. |
| R2D2 10k keypoints | 0.0 / 0.0 / 0.0 | 45.9 / 66.3 / 88.8 | June 17, 2019, 9:56 a.m. |
| Active Search v1.1 | 85.3 / 92.2 / 97.9 | 27.6 / 38.8 / 56.1 | April 26, 2020, 9:27 a.m. |
| Dense-ContextDesc10k_upright_OANet | 0.0 / 0.0 / 0.0 | 48.0 / 63.3 / 88.8 | Feb. 27, 2020, 7:33 a.m. |
| sgnet-vl | 0.0 / 0.0 / 0.0 | 46.9 / 65.3 / 88.8 | Oct. 1, 2019, 11:47 a.m. |
| HSC-Net | 71.1 / 81.9 / 91.7 | 32.7 / 43.9 / 65.3 | Nov. 27, 2019, 7:09 p.m. |
| Cascaded Parallel Filtering for Memory-Efficient Image-based Localization | 76.7 / 88.6 / 95.8 | 25.5 / 38.8 / 54.1 | July 19, 2019, 10:10 a.m. |
| Asymmetric Hypercolumn Matching | 47.8 / 72.2 / 91.3 | 30.6 / 53.1 / 78.6 | June 5, 2019, 7:28 p.m. |
| DFC-Net | 0.0 / 0.0 / 0.0 | 44.9 / 67.3 / 88.8 | Sept. 19, 2019, 12:56 p.m. |
| hpf | 0.0 / 0.0 / 0.0 | 44.9 / 70.4 / 87.8 | May 25, 2020, 8:02 a.m. |
| densecontextdesc10k_upright_mixedmatcher | 0.0 / 0.0 / 0.0 | 46.9 / 65.3 / 87.8 | July 16, 2019, 11:13 a.m. |
| PoseDesc+SIFT kp | 0.0 / 0.0 / 0.0 | 44.9 / 68.4 / 87.8 | March 13, 2020, 5:35 p.m. |
| swnet-single | 0.0 / 0.0 / 0.0 | 43.9 / 64.3 / 87.8 | Oct. 17, 2019, 9 a.m. |
| D2-Net - single-scale off-the-shelf | 0.0 / 0.0 / 0.0 | 41.8 / 69.4 / 86.7 | July 16, 2019, 4:57 p.m. |
| NetVLAD+SuperPoint top 10 (baseline) | 33.9 / 48.8 / 78.5 | 25.5 / 45.9 / 80.6 | June 1, 2019, 8:59 p.m. |
| r2d2519 | 0.0 / 0.0 / 0.0 | 44.9 / 64.3 / 85.7 | May 19, 2020, 8:48 a.m. |
| SOSNet+D2D | 0.0 / 0.0 / 0.0 | 42.9 / 64.3 / 85.7 | Dec. 10, 2019, 4:34 p.m. |
| nv-sp-gp | 0.0 / 0.0 / 0.0 | 46.9 / 63.3 / 84.7 | May 25, 2020, 7:01 a.m. |
| CityScaleLocalization | 52.3 / 80.0 / 94.3 | 24.5 / 33.7 / 49.0 | May 10, 2019, 2:22 p.m. |
| Localizing Visual Landmarks for 2D matching | 62.4 / 71.8 / 79.9 | 24.5 / 35.7 / 44.9 | April 20, 2019, 5:21 p.m. |
| DELF - new model | 0.0 / 0.0 / 0.0 | 39.8 / 61.2 / 85.7 | June 12, 2019, 3:52 p.m. |
| HardNet+D2D | 0.0 / 0.0 / 0.0 | 41.8 / 61.2 / 84.7 | Dec. 10, 2019, 4:32 p.m. |
| Active Search | 57.3 / 83.7 / 96.6 | 19.4 / 30.6 / 43.9 | March 13, 2019, 9 a.m. |
| DELF - old model | 0.0 / 0.0 / 0.0 | 39.8 / 60.2 / 84.7 | May 21, 2019, 2:52 p.m. |
| saliency_ranking_net (multi-scale) | 0.0 / 0.0 / 0.0 | 44.9 / 59.2 / 77.6 | April 29, 2019, 2:33 p.m. |
| DGCNCCC | 22.9 / 49.8 / 84.7 | 19.4 / 37.8 / 68.4 | May 30, 2019, 10:17 a.m. |
| densecontextdesc10k_upright | 0.0 / 0.0 / 0.0 | 41.8 / 57.1 / 79.6 | Aug. 27, 2019, 11:11 a.m. |
| superpoint519 | 0.0 / 0.0 / 0.0 | 40.8 / 59.2 / 78.6 | May 19, 2020, 8:44 a.m. |
| SuperPoint (baseline) | 0.0 / 0.0 / 0.0 | 42.9 / 57.1 / 77.6 | July 18, 2019, 8:24 a.m. |
| contextdesc10_upright | 0.0 / 0.0 / 0.0 | 40.8 / 55.1 / 80.6 | Aug. 27, 2019, 11:10 a.m. |
| HesAffNet-HardNet2 | 0.0 / 0.0 / 0.0 | 37.8 / 54.1 / 75.5 | May 31, 2019, 10:35 p.m. |
| ESAC (50 Experts) | 42.6 / 59.6 / 75.5 | 3.1 / 9.2 / 11.2 | Aug. 8, 2019, 7:14 a.m. |
| Upright RootSIFT (Feature Challenge Baseline) | 0.0 / 0.0 / 0.0 | 33.7 / 52.0 / 65.3 | May 2, 2019, 8:57 a.m. |
| ESAC (20 Experts) | 39.7 / 55.9 / 77.8 | 2.0 / 8.2 / 11.2 | Aug. 8, 2019, 7:13 a.m. |
| ESAC (10 Experts) | 30.3 / 49.3 / 73.7 | 2.0 / 5.1 / 7.1 | 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 | 27.6 / 42.9 / 60.2 | Nov. 14, 2019, 11:38 p.m. |
| ELF | 0.0 / 0.0 / 0.0 | 13.3 / 21.4 / 30.6 | May 3, 2019, 8:36 p.m. |
| DSAC++ | 0.4 / 2.4 / 34.0 | 0.0 / 0.0 / 3.1 | Aug. 8, 2019, 7:15 a.m. |
| DenseVLAD | 0.0 / 0.1 / 22.8 | 0.0 / 2.0 / 14.3 | April 11, 2019, 5:43 p.m. |
| NetVLAD | 0.0 / 0.2 / 18.9 | 0.0 / 2.0 / 12.2 | May 31, 2019, 11:16 p.m. |
| Localizing Visual Landmarks for Place Recognition | 0.0 / 0.2 / 20.8 | 0.0 / 1.0 / 10.2 | June 2, 2019, 10:06 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. |
CMU Seasons dataset
Localization thresholds:
- All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
| Method | urban | suburban | park | Last updated |
|---|---|---|---|---|
| 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 | 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. |
| 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. |
| 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. |
| coarse2fine | 22.7 / 47.6 / 88.8 | 11.0 / 27.3 / 76.5 | 12.5 / 31.0 / 78.4 | April 1, 2020, 3:42 p.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. |
| 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. |
| 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. |
| 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. |
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. |
| 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 | May 24, 2020, 3:10 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. |
| 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. |
| S2DHM feature optimization | 62.9 / 81.9 / 95.9 | 55.1 / 77.6 / 94.7 | 50.1 / 72.0 / 88.1 | May 24, 2020, 12:43 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. |
| 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. |
| DASGIL | 15.2 / 36.1 / 80.5 | 6.1 / 19.9 / 74.9 | 6.6 / 22.7 / 73.9 | Feb. 26, 2020, 1:59 a.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. |
| vanilla for DASGIL: no GAN loss | 12.7 / 31.1 / 74.1 | 4.5 / 14.4 / 55.6 | 4.4 / 15.2 / 56.0 | Feb. 29, 2020, 6 a.m. |
| NetVLAD | 12.2 / 31.5 / 89.8 | 3.7 / 13.9 / 74.7 | 2.6 / 10.4 / 55.9 | June 2, 2019, 9:12 a.m. |
| wasabi | 7.9 / 21.3 / 75.2 | 3.8 / 13.9 / 67.3 | 2.4 / 9.1 / 54.5 | May 4, 2020, 8:20 a.m. |
| sgVLAD | 7.3 / 19.9 / 76.9 | 3.6 / 12.8 / 69.1 | 2.1 / 9.1 / 57.4 | May 4, 2020, 8:32 a.m. |
| joint image segemation and depth to posenet | 0.3 / 1.5 / 31.9 | 0.1 / 0.3 / 12.5 | 0.0 / 0.2 / 9.0 | May 31, 2019, 11:46 a.m. |
RobotCar Seasons dataset
Localization thresholds:
- All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
| Method | day all | night all | Last updated |
|---|---|---|---|
| KAPTURE-R2D2-APGeM | 55.1 / 82.1 / 97.3 | 28.8 / 58.8 / 89.4 | May 24, 2020, 3:10 p.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. |
| RT_AP_IR+CRBNet | 55.3 / 81.8 / 98.5 | 11.5 / 26.5 / 39.2 | March 6, 2020, 2:38 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. |
| 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. |
| DenseVLAD & D2-Net | 54.5 / 80.0 / 95.3 | 20.4 / 40.1 / 55.0 | Oct. 31, 2019, 12:58 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| DenseVLAD (single-scale) | 8.1 / 31.8 / 90.7 | 1.3 / 5.7 / 25.5 | May 29, 2019, 1 p.m. |
| VPRI2I | 8.5 / 31.3 / 85.8 | 4.1 / 14.2 / 61.0 | March 25, 2020, 10:25 a.m. |
| ToDayGAN + DenseVLAD | 7.6 / 31.2 / 91.2 | 2.2 / 10.8 / 50.5 | May 27, 2019, 8:05 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. |
| coarse2fine | 8.4 / 30.0 / 72.2 | 3.4 / 8.7 / 25.1 | April 2, 2020, 12:17 p.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. |
| 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. |
InLoc dataset
Localization thresholds:
- All conditions: (0.25m, 10°) / (0.5m, 10°) / (1m, 10°)
| Method | duc1 | duc2 | Last updated |
|---|---|---|---|
| perl-nvsg | 50.0 / 69.7 / 78.3 | 54.2 / 72.5 / 80.2 | May 21, 2020, 12:34 a.m. |
| Hierarchical-Localization + SuperGlue | 49.0 / 69.2 / 79.8 | 53.4 / 77.1 / 80.9 | May 25, 2020, 6:05 a.m. |
| ONavi | 41.9 / 68.2 / 84.3 | 50.4 / 76.3 / 80.2 | May 24, 2020, 12:32 p.m. |
| DensePE+Sparse-NCNet+DensePV | 47.0 / 67.2 / 79.8 | 43.5 / 64.9 / 80.2 | May 13, 2020, 3:03 p.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. |
| 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. |
| 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+S (w/ scan-graph) | 40.4 / 62.1 / 73.7 | 42.7 / 61.1 / 70.2 | Aug. 20, 2019, 4:36 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| INLOC_PE_LPV | 37.4 / 51.0 / 63.6 | 35.1 / 46.6 / 61.1 | Nov. 26, 2019, 12:43 p.m. |
| INLOC_PE | 34.8 / 46.0 / 59.1 | 31.3 / 39.7 / 50.4 | Nov. 26, 2019, 12:01 p.m. |
| KAPTURE-R2D2-APGeM | 21.7 / 37.4 / 54.5 | 23.7 / 41.2 / 54.2 | May 24, 2020, 8:43 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 |
|---|---|---|---|---|
| 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. |
| 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 | May 24, 2020, 3:11 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. |
| DGCNCCC | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | 0.0 / 0.0 / 0.0 | May 19, 2019, 1:16 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 |
|---|