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°)
MethoddaynightLast updated
Combined tuned HLoc89.7 / 95.8 / 98.787.8 / 94.9 / 100.0June 14, 2021, 2:03 p.m.
HHloc89.3 / 96.5 / 99.586.7 / 91.8 / 100.0Aug. 10, 2022, 2:35 a.m.
Lenovo Research SH-hloc89.0 / 96.0 / 98.987.8 / 93.9 / 100.0Aug. 23, 2024, 3:14 a.m.
superpoint89.0 / 95.9 / 98.887.8 / 93.9 / 100.0Nov. 14, 2022, 8:19 a.m.
Hierarchical Localization - SuperPoint + SuperGlue89.6 / 95.4 / 98.886.7 / 93.9 / 100.0July 19, 2020, 5:12 p.m.
SuperGlue + Patch2Pix (HLoc)89.2 / 95.5 / 98.587.8 / 94.9 / 100.0March 25, 2021, 8:09 p.m.
ONavi-V2.088.6 / 95.1 / 99.586.7 / 93.9 / 100.0March 18, 2021, 2:07 a.m.
hloc89.3 / 95.9 / 98.885.7 / 92.9 / 100.0July 27, 2020, 8:11 a.m.
KAPTURE-R2D2-FUSION89.4 / 96.4 / 99.284.7 / 92.9 / 98.0Sept. 1, 2020, 6:22 a.m.
hloc-test89.3 / 96.0 / 98.884.7 / 93.9 / 100.0Aug. 26, 2020, 2:03 a.m.
hloc+superpoint+superglue89.4 / 95.8 / 98.785.7 / 92.9 / 100.0June 17, 2021, 1:42 a.m.
hloc_only_SP_Voxel_Histo-meanshfit(T=100개만,0.2)-all89.3 / 96.0 / 98.785.7 / 92.9 / 100.0Nov. 23, 2021, 9:26 a.m.
hloc_ss89.2 / 95.9 / 98.587.8 / 93.9 / 100.0Jan. 24, 2022, 2:52 p.m.
hloc_ss188.8 / 96.1 / 98.586.7 / 93.9 / 100.0Jan. 24, 2022, 3:36 p.m.
official_hloc89.4 / 95.4 / 98.885.7 / 93.9 / 100.0Feb. 7, 2023, 8:13 a.m.
Revised_Object_Detection_Aachen_hloc_superpoint+superglue_netvlad5089.1 / 95.8 / 98.786.7 / 93.9 / 100.0April 13, 2022, 6:47 a.m.
RLOCS88.8 / 95.4 / 99.085.7 / 93.9 / 100.0Sept. 18, 2020, 10:12 a.m.
all88.0 / 95.6 / 98.884.7 / 94.9 / 100.0June 26, 2021, 6:45 a.m.
SG+SP89.0 / 95.4 / 98.785.7 / 92.9 / 100.0July 22, 2024, 2:54 p.m.
hloc89.3 / 96.0 / 98.584.7 / 91.8 / 100.0July 24, 2020, 2:36 a.m.
Hierarchical Localization - SuperPoint + SuperGlue(5*[self, cross])88.2 / 95.1 / 98.386.7 / 94.9 / 100.0April 28, 2021, 8:57 a.m.
DeViLoc87.4 / 94.8 / 98.287.8 / 93.9 / 100.0March 17, 2024, 8:04 a.m.
all_from_xuqichao89.0 / 94.3 / 98.284.7 / 93.9 / 100.0Oct. 31, 2022, 2:53 a.m.
TopicFM88.8 / 94.7 / 97.986.7 / 92.9 / 100.0Oct. 23, 2022, 3:38 p.m.
RiemannMatch_bin88.2 / 95.4 / 98.284.7 / 92.9 / 99.0Sept. 6, 2021, 2:39 a.m.
baseline_original_n2048-r102488.7 / 95.1 / 98.283.7 / 93.9 / 98.0Oct. 31, 2022, 3:44 a.m.
hloc_only_SP_Voxel_Histo-meanshfit(onlyT=20,0.2)-all88.2 / 95.0 / 98.286.7 / 91.8 / 99.0Nov. 23, 2021, 10:18 a.m.
NetVLAD+DISP88.8 / 95.1 / 98.282.7 / 90.8 / 96.9Oct. 27, 2020, 7:16 p.m.
hloc_testz_ezxr88.3 / 95.0 / 97.983.7 / 92.9 / 99.0Feb. 24, 2022, 7:45 a.m.
KAPTURE-R2D2-APGeM88.7 / 95.8 / 98.881.6 / 88.8 / 96.9July 29, 2020, 12:28 p.m.
ONavi85.7 / 93.7 / 98.981.6 / 91.8 / 100.0June 3, 2020, 2:49 a.m.
Visual Localization Using Dense Semantic 3D Map And Hybrid Features90.3 / 95.5 / 97.964.3 / 84.7 / 99.0May 25, 2020, 6:26 a.m.
baseline_n2048-r102488.1 / 94.7 / 98.279.6 / 92.9 / 98.0Oct. 31, 2022, 6:09 a.m.
Binux_20_SP88.2 / 94.9 / 97.984.7 / 91.8 / 98.0Dec. 7, 2020, 2:05 a.m.
XRLocalization(GAM)88.0 / 94.8 / 98.578.6 / 91.8 / 99.0Nov. 17, 2022, 3:25 a.m.
2D3D_ngransac_1000iter_TF2288.0 / 94.2 / 97.785.7 / 91.8 / 99.0Aug. 29, 2022, 6:18 a.m.
hloc_superpoint_lightglue88.7 / 94.8 / 97.883.7 / 91.8 / 98.0Nov. 1, 2023, 4:06 p.m.
megpoint_pair_oanet87.4 / 93.9 / 97.784.7 / 90.8 / 99.0Aug. 19, 2020, 1:26 a.m.
CAPS + Patch2Pix (HLoc)86.7 / 93.7 / 96.785.7 / 92.9 / 99.0March 25, 2021, 8:10 p.m.
sfm_from_xuqichao87.5 / 94.1 / 97.681.6 / 92.9 / 98.0Oct. 31, 2022, 2:52 a.m.
baseline_original_n2048-r200087.7 / 94.4 / 97.682.7 / 90.8 / 98.0Oct. 31, 2022, 3:44 a.m.
baseline_n2048-r200087.6 / 94.3 / 97.681.6 / 89.8 / 98.0Oct. 31, 2022, 3:43 a.m.
para+sp86.7 / 93.6 / 97.581.6 / 92.9 / 98.0June 7, 2023, 10:11 a.m.
MaKeGNN+sp87.5 / 93.7 / 97.280.6 / 91.8 / 98.0June 6, 2023, 2:13 a.m.
MaKeGNN+sp_10087.5 / 93.7 / 97.280.6 / 91.8 / 98.0June 6, 2023, 3:22 a.m.
MaKeGNN+sp_100_287.4 / 93.8 / 97.579.6 / 90.8 / 98.0June 6, 2023, 1:07 p.m.
SGNNet_sp_087.1 / 93.1 / 97.283.7 / 90.8 / 99.0Dec. 20, 2023, 12:23 p.m.
sde_first88.6 / 95.1 / 98.174.5 / 87.8 / 94.9April 6, 2024, 11:05 a.m.
NetVLAD (top-20) & D2-Net - multi-scale84.8 / 92.6 / 97.584.7 / 90.8 / 96.9Nov. 1, 2019, 9:49 a.m.
lir2d287.9 / 94.5 / 97.778.6 / 88.8 / 92.9April 9, 2024, 4:49 a.m.
SGNNet_sp_decay86.8 / 93.4 / 97.576.5 / 90.8 / 98.0Dec. 23, 2023, 8:31 a.m.
rkpd2m_5k87.7 / 93.7 / 97.082.7 / 88.8 / 96.9April 22, 2020, 8:45 a.m.
aslfeat2048+sg85.3 / 93.9 / 98.272.4 / 88.8 / 96.9Aug. 24, 2021, 2:40 a.m.
spd2ms88.2 / 93.2 / 97.080.6 / 88.8 / 95.9April 22, 2020, 8:44 a.m.
U-Match SP Loss 0.125 0.5 0.585.7 / 93.1 / 97.277.6 / 87.8 / 98.0Oct. 18, 2023, 7:18 a.m.
hloc_only_SP_Voxel_Histo-Covis(T=100)-all86.9 / 94.2 / 97.971.4 / 84.7 / 95.9Nov. 23, 2021, 8:38 a.m.
Patch2Pix (HLoc)84.6 / 92.1 / 96.582.7 / 92.9 / 99.0March 25, 2021, 8:04 p.m.
NV+SP_Covisible86.4 / 94.3 / 97.869.4 / 83.7 / 95.9Nov. 23, 2021, 7 a.m.
D2_UMATCH83.4 / 91.9 / 96.685.7 / 90.8 / 99.0Oct. 11, 2023, 3:48 p.m.
Geometric Prior Guided Camera Localization86.0 / 92.8 / 97.675.5 / 83.7 / 96.9March 1, 2020, 10:15 a.m.
umatch_d281.8 / 91.7 / 96.883.7 / 91.8 / 99.0Oct. 11, 2023, 3:28 a.m.
umatch_d2_281.8 / 91.7 / 96.883.7 / 91.8 / 99.0Oct. 11, 2023, 5:16 a.m.
d2_loss_0.12581.9 / 91.6 / 97.082.7 / 90.8 / 99.0Oct. 15, 2023, 9:23 a.m.
U-MatchD2 Loss 0.125 0.5 0.581.9 / 91.6 / 97.082.7 / 90.8 / 99.0Oct. 19, 2023, 7:23 a.m.
GO_r2d2_best84.2 / 92.6 / 97.077.6 / 87.8 / 96.9May 24, 2020, 4:15 p.m.
SGNNet_d2_decay84.1 / 92.5 / 96.584.7 / 89.8 / 99.0Dec. 25, 2023, 7:46 a.m.
CoTR82.4 / 91.9 / 96.875.5 / 90.8 / 99.0Feb. 17, 2021, 3:12 a.m.
D2_UMATCH_1.081.1 / 91.5 / 96.784.7 / 90.8 / 99.0Oct. 12, 2023, 10:40 a.m.
SGNNet_d2_082.9 / 91.9 / 96.884.7 / 89.8 / 98.0Dec. 19, 2023, 1:17 p.m.
Hierarchical Localization - SuperPoint85.4 / 93.3 / 97.275.5 / 86.7 / 92.9July 19, 2020, 9:11 p.m.
disk_U_0.12582.4 / 92.6 / 96.879.6 / 87.8 / 98.0Oct. 13, 2023, 5:28 a.m.
U-Match SIFT Loss 0.125 0.5 0.585.6 / 93.3 / 97.169.4 / 82.7 / 93.9Oct. 17, 2023, 4 p.m.
U-Match SIFT Loss 0.125 0.5 0.585.6 / 93.3 / 97.169.4 / 82.7 / 93.9Oct. 17, 2023, 4 p.m.
U-Match DISK Loss 0.125 0.5 0.581.1 / 91.7 / 96.880.6 / 86.7 / 98.0Oct. 20, 2023, 2:11 a.m.
lilike85.1 / 92.1 / 95.379.6 / 89.8 / 94.9April 9, 2024, 4:48 a.m.
RT_AP_IR+CRBNet76.2 / 93.0 / 98.966.3 / 86.7 / 96.9March 6, 2020, 2:37 a.m.
GO_R2D282.9 / 90.2 / 95.877.6 / 87.8 / 96.9May 20, 2020, 2:05 a.m.
baseline_original_n2048-r1024_NN-dist.785.8 / 92.6 / 96.571.4 / 87.8 / 93.9Nov. 17, 2022, 3:18 a.m.
baseline_n2048-r1024_NN-dist.786.2 / 93.1 / 96.574.5 / 86.7 / 91.8Nov. 17, 2022, 3:18 a.m.
umatch85.1 / 93.3 / 97.073.5 / 81.6 / 92.9Oct. 10, 2023, 2:13 a.m.
umatch_wo_loss85.1 / 93.3 / 97.073.5 / 81.6 / 92.9Oct. 10, 2023, 3:47 a.m.
U-Match R2D2 Loss 0.125 0.5 0.580.3 / 91.5 / 97.072.4 / 87.8 / 96.9Oct. 18, 2023, 4:16 p.m.
d2_loss_0.125_2.276.0 / 89.2 / 96.274.5 / 87.8 / 98.0Oct. 17, 2023, 1:17 a.m.
DenseVLAD (top-50) & D2-Net - multi-scale83.1 / 90.9 / 95.574.5 / 85.7 / 90.8Nov. 1, 2019, 9:49 a.m.
UR2KID (global: ur2kid-top40, local: ur2kid)81.6 / 89.1 / 94.376.5 / 84.7 / 95.9June 18, 2020, 5:34 p.m.
SGNNet_sift_decay85.2 / 92.6 / 96.768.4 / 78.6 / 88.8Dec. 22, 2023, 1:38 a.m.
UP_RD2_NV84.7 / 92.1 / 96.672.4 / 82.7 / 88.8April 16, 2020, 9:56 a.m.
SGNNet_sift_085.8 / 92.6 / 96.570.4 / 78.6 / 86.7Dec. 19, 2023, 7:14 a.m.
uconvmatch85.7 / 92.7 / 96.766.3 / 72.4 / 87.8Nov. 8, 2023, 1:33 p.m.
U-Match_conf SIFT Loss 0.125 0.5 0.584.8 / 91.7 / 96.268.4 / 76.5 / 86.7Oct. 22, 2023, 7:03 a.m.
baseline_original_n2048-r1024_NN-ratio.883.1 / 90.8 / 96.167.3 / 80.6 / 89.8Nov. 17, 2022, 3:18 a.m.
baseline_n2048-r1024_NN-ratio.883.0 / 91.3 / 95.970.4 / 77.6 / 87.8Nov. 17, 2022, 3:18 a.m.
ONavi-H77.7 / 89.0 / 95.868.4 / 86.7 / 96.9Sept. 24, 2019, 9:31 a.m.
Fine_NV_SP81.1 / 89.4 / 95.571.4 / 80.6 / 91.8April 6, 2020, 2:56 p.m.
baseline_n2048-r1024_NN-ratio.8-dist.782.5 / 91.7 / 96.168.4 / 77.6 / 87.8Nov. 17, 2022, 3:18 a.m.
IR30+ML77.1 / 90.5 / 97.566.3 / 76.5 / 92.9Aug. 2, 2019, 12:31 p.m.
Dynamic retrieval and pre-clustering for hfnet-mv3_m:80n:1078.3 / 87.7 / 93.869.4 / 80.6 / 92.9Aug. 23, 2020, 8:33 a.m.
umatch_0.2585.3 / 92.4 / 96.266.3 / 74.5 / 87.8Oct. 10, 2023, 1:37 p.m.
Hierarchical-Localization NetVLAD+SuperPoint80.5 / 87.4 / 94.268.4 / 77.6 / 88.8June 1, 2019, 9:50 a.m.
Hierarchical-Localization (multi-camera when available)80.5 / 87.4 / 94.268.4 / 77.6 / 88.8June 2, 2019, 6:55 a.m.
HF_SG_4096_nv_50_sp76.5 / 85.9 / 94.167.3 / 80.6 / 96.9July 11, 2020, 11:55 a.m.
Visual Localization Using Sparse Semantic 3D Map71.8 / 91.5 / 96.858.2 / 76.5 / 90.8June 2, 2019, 4 a.m.
Fine_GeM_SP78.5 / 87.3 / 93.867.3 / 80.6 / 86.7April 9, 2020, 11:41 a.m.
HF_SG_4096_nv_5076.2 / 86.4 / 93.464.3 / 77.6 / 96.9July 5, 2020, 4:37 a.m.
HF_DCE76.5 / 85.9 / 94.162.2 / 78.6 / 93.9July 11, 2020, 9:21 a.m.
HF_SG_4096_nv_50_sp76.5 / 85.9 / 94.165.3 / 81.6 / 94.9July 17, 2020, 11:35 a.m.
Dynamic retrieval and pre-clustering for hfnet-mv377.9 / 87.1 / 93.167.3 / 78.6 / 88.8July 24, 2020, 1:47 a.m.
Dynamic retrieval and pre-clustering for hfnet-mv3_m:40n:1077.9 / 87.1 / 93.167.3 / 78.6 / 88.8Aug. 23, 2020, 8:33 a.m.
NeuMap80.8 / 90.9 / 95.648.0 / 67.3 / 87.8Oct. 30, 2022, 9:16 p.m.
MaKeGNN+root83.9 / 91.3 / 95.666.3 / 75.5 / 87.8June 13, 2023, 8:14 a.m.
DenseVLAD & D2-Net (top-20)80.1 / 88.0 / 93.466.3 / 75.5 / 84.7Oct. 31, 2019, 12:58 a.m.
ALL_NV_SP79.6 / 87.1 / 93.864.3 / 75.5 / 88.8April 3, 2020, 10:42 a.m.
HF_SG_4096_nv76.5 / 86.0 / 93.065.3 / 76.5 / 92.9July 3, 2020, 9:25 a.m.
PATS0.0 / 0.0 / 0.085.7 / 94.9 / 100.0Nov. 12, 2022, 1:22 a.m.
PoSFeat0.0 / 0.0 / 0.081.6 / 90.8 / 100.0Aug. 8, 2022, 8:53 a.m.
multi-att40.0 / 0.0 / 0.080.6 / 91.8 / 100.0May 25, 2023, 1:39 a.m.
SADAFeat0.0 / 0.0 / 0.081.6 / 89.8 / 100.0Aug. 23, 2022, 6:50 a.m.
SADGFeat0.0 / 0.0 / 0.081.6 / 89.8 / 100.0Sept. 1, 2022, 9:11 a.m.
OaFeatkeypoint_bs8_adam_dest40_lr50.0 / 0.0 / 0.081.6 / 89.8 / 100.0April 25, 2023, 2:27 p.m.
TopicFM [local feature challenge]0.0 / 0.0 / 0.077.6 / 91.8 / 100.0Oct. 24, 2022, 6:27 a.m.
SuperPoint + SuperGlue [local feature challenge]0.0 / 0.0 / 0.079.6 / 90.8 / 100.0Dec. 29, 2020, 3:16 p.m.
PDC-Net+ (H) + SuperPoint [local feature challenge]0.0 / 0.0 / 0.079.6 / 90.8 / 100.0Nov. 30, 2021, 2:57 p.m.
CAPS+SuperPoint kp0.0 / 0.0 / 0.082.7 / 87.8 / 100.0Oct. 12, 2020, 8:54 p.m.
ASLFeatV2 (10k)0.0 / 0.0 / 0.081.6 / 87.8 / 100.0July 20, 2020, 3:54 a.m.
PDC-Net+ (H) [local feature challenge]0.0 / 0.0 / 0.080.6 / 89.8 / 100.0Nov. 30, 2021, 2:57 p.m.
LSA_DA0.0 / 0.0 / 0.081.6 / 87.8 / 100.0Aug. 5, 2022, 9:53 a.m.
OaFeat100_3000.0 / 0.0 / 0.080.6 / 89.8 / 100.0April 14, 2023, 4:47 p.m.
disk-att50.0 / 0.0 / 0.077.6 / 90.8 / 100.0June 1, 2023, 7:12 a.m.
R2D20.0 / 0.0 / 0.080.6 / 90.8 / 96.9April 9, 2021, 9:52 a.m.
R2D2_40K0.0 / 0.0 / 0.076.5 / 90.8 / 100.0May 18, 2020, 4:15 p.m.
multi-att0.0 / 0.0 / 0.076.5 / 90.8 / 100.0May 24, 2023, 6:42 a.m.
multi-att0.0 / 0.0 / 0.076.5 / 90.8 / 100.0May 24, 2023, 7:41 a.m.
R2D2 V2 20K0.0 / 0.0 / 0.075.5 / 90.8 / 100.0May 18, 2020, 4:14 p.m.
d2net5190.0 / 0.0 / 0.079.6 / 89.8 / 100.0May 19, 2020, 12:32 p.m.
OaFeat100_1000.0 / 0.0 / 0.079.6 / 89.8 / 100.0April 14, 2023, 9:27 a.m.
OaFeat200_5000.0 / 0.0 / 0.080.6 / 88.8 / 100.0April 16, 2023, 3:45 a.m.
OaFeat_last0.0 / 0.0 / 0.080.6 / 89.8 / 99.0May 10, 2023, 1:41 a.m.
PDC-Net (MS) + Superpoint [local feature challenge]0.0 / 0.0 / 0.080.6 / 87.8 / 100.0July 18, 2021, 8:50 a.m.
ASLFeat (10k) + OANet0.0 / 0.0 / 0.077.6 / 89.8 / 100.0March 20, 2020, 4:57 a.m.
OaFeat_daoshudier0.0 / 0.0 / 0.079.6 / 89.8 / 99.0May 10, 2023, 3:24 a.m.
OaFeat_daoshudie0.0 / 0.0 / 0.080.6 / 88.8 / 99.0May 10, 2023, 5:54 a.m.
OaFeat_daoshudi30.0 / 0.0 / 0.080.6 / 88.8 / 99.0May 10, 2023, 5:55 a.m.
CA-R2D20.0 / 0.0 / 0.078.6 / 88.8 / 100.0May 27, 2020, 4:47 a.m.
nori78.5 / 85.6 / 91.564.3 / 78.6 / 89.8Jan. 25, 2021, 1:07 p.m.
OaFeat100_2000.0 / 0.0 / 0.078.6 / 88.8 / 100.0April 14, 2023, 9:27 a.m.
deeppoint_oanet0.0 / 0.0 / 0.079.6 / 88.8 / 99.0Aug. 17, 2020, 8:06 a.m.
Patch2Pix (Night only)0.0 / 0.0 / 0.079.6 / 87.8 / 100.0March 25, 2021, 8:06 p.m.
aliked_n_32_1k0.0 / 0.0 / 0.077.6 / 88.8 / 100.0Nov. 22, 2022, 1:37 p.m.
OaFeat_badreward-030.0 / 0.0 / 0.079.6 / 88.8 / 99.0April 27, 2023, 5:23 a.m.
Dynamic retrieval and pre-clustering for hfnet-mv3_m:40n:577.2 / 84.8 / 92.667.3 / 77.6 / 86.7Aug. 23, 2020, 8:34 a.m.
ALIKE-N(unlimited)0.0 / 0.0 / 0.077.6 / 87.8 / 100.0July 18, 2022, 11:49 a.m.
Dynamic retrieval and pre-clustering for hfnet-mv3_m:40n:2077.4 / 86.0 / 93.163.3 / 76.5 / 85.7Aug. 23, 2020, 8:34 a.m.
SAMLoc79.0 / 86.8 / 92.261.2 / 77.6 / 84.7July 12, 2023, 9:04 a.m.
Dynamic retrieval and pre-clustering for hfnet-mv3_m:10n:1076.9 / 85.8 / 91.065.3 / 76.5 / 86.7Aug. 23, 2020, 8:32 a.m.
Active Search v1.185.3 / 92.2 / 97.939.8 / 49.0 / 64.3April 26, 2020, 9:27 a.m.
HF_SG76.2 / 83.6 / 90.865.3 / 78.6 / 88.8July 2, 2020, 2:09 a.m.
HFnet76.2 / 85.4 / 91.962.2 / 73.5 / 81.6June 22, 2020, 12:14 p.m.
SceneSqueezer75.5 / 89.7 / 96.250.0 / 67.3 / 78.6Nov. 8, 2021, 11:46 p.m.
NeuMap (160MB)76.2 / 88.5 / 95.537.8 / 62.2 / 87.8Nov. 18, 2022, 1:55 a.m.
HF_SG_409674.0 / 82.9 / 90.767.3 / 73.5 / 88.8July 2, 2020, 2:18 p.m.
HF_SG_4096_db74.0 / 82.9 / 90.767.3 / 73.5 / 88.8July 2, 2020, 2:19 p.m.
coarse2fine73.2 / 84.5 / 92.851.0 / 68.4 / 87.8May 24, 2020, 2:03 p.m.
darkfeat80.2 / 87.0 / 91.150.0 / 60.2 / 75.5May 3, 2024, 3:14 p.m.
test_wp83.6 / 90.7 / 93.945.9 / 49.0 / 61.2Aug. 29, 2024, 12:31 p.m.
HSC-Net71.1 / 81.9 / 91.740.8 / 56.1 / 76.5Nov. 27, 2019, 7:09 p.m.
PixLoc (end-to-end with oracle)68.0 / 74.6 / 80.857.1 / 69.4 / 76.5Nov. 19, 2020, 3:33 p.m.
Asymmetric Hypercolumn Matching47.8 / 72.2 / 91.342.9 / 59.2 / 89.8June 5, 2019, 7:28 p.m.
pl_pixloc_official64.9 / 70.5 / 78.048.0 / 55.1 / 64.3Feb. 7, 2023, 10:49 a.m.
VGG16+learn LM64.4 / 69.9 / 77.450.0 / 55.1 / 67.3May 25, 2024, 4:07 p.m.
Aachen Localization64.4 / 69.7 / 77.250.0 / 55.1 / 67.3Sept. 29, 2022, 1 a.m.
Cascaded Parallel Filtering for Memory-Efficient Image-based Localization76.7 / 88.6 / 95.833.7 / 48.0 / 62.2July 19, 2019, 10:10 a.m.
Localizing Visual Landmarks for 2D matching62.4 / 71.8 / 79.935.7 / 44.9 / 54.1April 20, 2019, 5:21 p.m.
PixLoc (end-to-end)61.7 / 67.6 / 74.846.9 / 53.1 / 64.3Nov. 19, 2020, 3:32 p.m.
sd2ss_superSC_all0.0 / 0.0 / 0.077.6 / 86.7 / 100.0May 23, 2020, 11:56 a.m.
sp4k_SGMNet_com0.0 / 0.0 / 0.077.6 / 88.8 / 99.0May 21, 2021, 5:55 a.m.
ALIKE-L(unlimited)0.0 / 0.0 / 0.079.6 / 86.7 / 100.0July 18, 2022, 11:50 a.m.
GLFeat0.0 / 0.0 / 0.079.6 / 86.7 / 100.0Oct. 12, 2022, 10:23 a.m.
aliked_n_16_2k0.0 / 0.0 / 0.080.6 / 87.8 / 99.0Nov. 22, 2022, 1:37 p.m.
aliked_n_32_2k0.0 / 0.0 / 0.076.5 / 87.8 / 100.0Nov. 22, 2022, 1:38 p.m.
pl_pixloc58.9 / 66.3 / 68.828.6 / 54.1 / 60.2Feb. 7, 2023, 10:17 a.m.
OaFeat_test0.0 / 0.0 / 0.080.6 / 87.8 / 99.0May 10, 2023, 12:21 p.m.
OaFeat_test_313050.0 / 0.0 / 0.080.6 / 87.8 / 99.0May 10, 2023, 1:01 p.m.
VGG19+learn LM53.0 / 62.4 / 72.135.7 / 44.9 / 64.3May 25, 2024, 4:08 p.m.
mast3r-resize0.0 / 0.0 / 0.076.5 / 90.8 / 99.0Sept. 19, 2024, 12:13 p.m.
CityScaleLocalization52.3 / 80.0 / 94.329.6 / 40.8 / 56.1May 10, 2019, 2:22 p.m.
Active Search57.3 / 83.7 / 96.628.6 / 37.8 / 51.0Dec. 10, 2020, 6:05 p.m.
sd2ss_zoo4cro_supersc_p20.0 / 0.0 / 0.074.5 / 88.8 / 100.0May 24, 2020, 7:24 p.m.
PDC-Net (MS) [local feature challenge]0.0 / 0.0 / 0.076.5 / 85.7 / 100.0July 18, 2021, 8:48 a.m.
OaFeat_n7_thr90.0 / 0.0 / 0.079.6 / 87.8 / 99.0May 9, 2023, 6:38 p.m.
D2-Net - single-scale0.0 / 0.0 / 0.074.5 / 86.7 / 100.0July 16, 2019, 12:21 p.m.
Dense-ContextDesc10k_upright_OANet0.0 / 0.0 / 0.075.5 / 85.7 / 100.0Feb. 27, 2020, 7:33 a.m.
swnet-single0.0 / 0.0 / 0.072.4 / 88.8 / 99.0Oct. 17, 2019, 9 a.m.
CAPS+SIFT kp0.0 / 0.0 / 0.077.6 / 86.7 / 99.0Oct. 12, 2020, 8:55 p.m.
D2net0.0 / 0.0 / 0.075.5 / 85.7 / 100.0July 3, 2020, 2:20 p.m.
LLF-detector + R2D2-10K0.0 / 0.0 / 0.072.4 / 90.8 / 99.0April 12, 2021, 6:42 a.m.
SuperPoint+AANet0.0 / 0.0 / 0.079.6 / 87.8 / 96.9April 20, 2022, 1:16 p.m.
OaFeat_keypoint_bs8_adam_dest400.0 / 0.0 / 0.077.6 / 87.8 / 99.0April 25, 2023, 1:47 p.m.
OaFeat_daoshudi10.0 / 0.0 / 0.078.6 / 86.7 / 99.0May 10, 2023, 6:26 a.m.
UR2KID Scape Technologies (not scene specific, single scale)0.0 / 0.0 / 0.071.4 / 84.7 / 100.0June 22, 2020, 9:58 a.m.
R2D2 10k keypoints0.0 / 0.0 / 0.074.5 / 83.7 / 100.0June 17, 2019, 9:56 a.m.
densecontextdesc10k_upright_mixedmatcher0.0 / 0.0 / 0.075.5 / 84.7 / 99.0July 16, 2019, 11:13 a.m.
DFC-Net0.0 / 0.0 / 0.073.5 / 87.8 / 100.0Sept. 19, 2019, 12:56 p.m.
sgnet-vl0.0 / 0.0 / 0.072.4 / 85.7 / 100.0Oct. 1, 2019, 11:47 a.m.
hpf0.0 / 0.0 / 0.074.5 / 83.7 / 99.0May 25, 2020, 8:02 a.m.
SuperPoint+MVNet0.0 / 0.0 / 0.078.6 / 86.7 / 94.9Nov. 25, 2021, 5:11 a.m.
ALIKE-L(2048)0.0 / 0.0 / 0.074.5 / 87.8 / 98.0July 18, 2022, 11:55 a.m.
SuperPoint+HIFT0.0 / 0.0 / 0.079.6 / 86.7 / 96.9April 5, 2022, 3:35 a.m.
EffLinAtt + Superpoint-4K0.0 / 0.0 / 0.080.6 / 86.7 / 95.9April 19, 2022, 4:48 a.m.
aliked_n_16_1k0.0 / 0.0 / 0.073.5 / 85.7 / 98.0Nov. 22, 2022, 1:37 p.m.
aliked_t_16_1k0.0 / 0.0 / 0.070.4 / 87.8 / 98.0Nov. 22, 2022, 1:37 p.m.
aliked_t_16_2k0.0 / 0.0 / 0.078.6 / 87.8 / 98.0Nov. 22, 2022, 1:37 p.m.
wl-net0.0 / 0.0 / 0.078.6 / 87.8 / 98.0Feb. 27, 2023, 12:24 p.m.
mast3r-Qprior0.0 / 0.0 / 0.075.5 / 90.8 / 98.0Sept. 19, 2024, 10:27 a.m.
D2-Net - single-scale off-the-shelf0.0 / 0.0 / 0.071.4 / 85.7 / 98.0July 16, 2019, 4:57 p.m.
rootsift8k_upright_512_0.2_SGMNet0.0 / 0.0 / 0.070.4 / 85.7 / 98.0Nov. 28, 2020, 8:51 a.m.
r2d25190.0 / 0.0 / 0.073.5 / 84.7 / 96.9May 19, 2020, 8:48 a.m.
SOSNet+D2D0.0 / 0.0 / 0.073.5 / 83.7 / 96.9Dec. 10, 2019, 4:34 p.m.
li74.5 / 83.0 / 87.427.6 / 32.7 / 36.7April 7, 2024, 11:35 a.m.
HardNet+D2D0.0 / 0.0 / 0.074.5 / 82.7 / 95.9Dec. 10, 2019, 4:32 p.m.
r2d20.0 / 0.0 / 0.069.4 / 86.7 / 94.9Oct. 21, 2020, 1:58 a.m.
ALIKE-N(2048)0.0 / 0.0 / 0.068.4 / 84.7 / 96.9July 18, 2022, 11:54 a.m.
attention 5K0.0 / 0.0 / 0.071.4 / 83.7 / 91.8July 10, 2020, 4:22 a.m.
r2d20.0 / 0.0 / 0.067.3 / 81.6 / 92.9Oct. 19, 2020, 8:45 a.m.
pl_pose35.4 / 50.1 / 60.217.3 / 41.8 / 53.1Feb. 7, 2023, 10:17 a.m.
DGCNCCC22.9 / 49.8 / 84.714.3 / 37.8 / 79.6May 30, 2019, 10:17 a.m.
saliency_ranking_net (multi-scale)0.0 / 0.0 / 0.069.4 / 80.6 / 88.8April 29, 2019, 2:33 p.m.
densecontextdesc10k_upright0.0 / 0.0 / 0.067.3 / 79.6 / 90.8Aug. 27, 2019, 11:11 a.m.
superpoint5190.0 / 0.0 / 0.074.5 / 78.6 / 89.8May 19, 2020, 8:44 a.m.
SuperPoint (baseline)0.0 / 0.0 / 0.073.5 / 79.6 / 88.8July 18, 2019, 8:24 a.m.
DELF - new model0.0 / 0.0 / 0.054.1 / 75.5 / 96.9June 12, 2019, 3:52 p.m.
HFNet0.0 / 0.0 / 0.064.3 / 75.5 / 88.8July 20, 2020, 3:11 p.m.
contextdesc10_upright0.0 / 0.0 / 0.062.2 / 74.5 / 90.8Aug. 27, 2019, 11:10 a.m.
DELF - old model0.0 / 0.0 / 0.057.1 / 73.5 / 95.9May 21, 2019, 2:52 p.m.
NetVLAD+SuperPoint top 10 (baseline)33.9 / 48.8 / 78.54.1 / 28.6 / 73.5June 1, 2019, 8:59 p.m.
HesAffNet-HardNet20.0 / 0.0 / 0.058.2 / 72.4 / 83.7May 31, 2019, 10:35 p.m.
2.5 float ckpt ft lr 6e-6 night0.0 / 0.0 / 0.054.1 / 68.4 / 78.6May 20, 2023, 11:04 a.m.
2.5 float ckpt ft lr0 day76.2 / 84.7 / 90.20.0 / 0.0 / 0.0May 20, 2023, 10:19 a.m.
Upright RootSIFT (Feature Challenge Baseline)0.0 / 0.0 / 0.054.1 / 66.3 / 75.5May 2, 2019, 8:57 a.m.
2.5 float ckpt ft lr0 night0.0 / 0.0 / 0.057.1 / 66.3 / 74.5May 20, 2023, 10:20 a.m.
2.5 float night0.0 / 0.0 / 0.053.1 / 66.3 / 76.5May 19, 2023, 2:26 p.m.
2.5 qat night0.0 / 0.0 / 0.054.1 / 66.3 / 73.5May 19, 2023, 10:13 p.m.
2.5 float ckpt day76.2 / 84.3 / 89.90.0 / 0.0 / 0.0May 20, 2023, 9:35 a.m.
2.5 float 2 day76.2 / 84.3 / 89.90.0 / 0.0 / 0.0May 21, 2023, 2:17 p.m.
2.5 float ckpt ft lr 6e-6 day76.1 / 84.0 / 89.80.0 / 0.0 / 0.0May 20, 2023, 11:04 a.m.
2.5 qat night xieyi iter3 fix 1 conv0.0 / 0.0 / 0.052.0 / 65.3 / 74.5May 24, 2023, 2:27 p.m.
2.5 float day75.7 / 83.3 / 89.80.0 / 0.0 / 0.0May 19, 2023, 2:37 p.m.
2.5 float ckpt ft 2 day74.3 / 83.1 / 89.70.0 / 0.0 / 0.0May 21, 2023, 11:50 a.m.
2.5 qat day74.2 / 82.4 / 89.20.0 / 0.0 / 0.0May 19, 2023, 10:13 p.m.
2.5 float ckpt night0.0 / 0.0 / 0.054.1 / 64.3 / 72.4May 20, 2023, 9:39 a.m.
2.5 float ckpt 2 night0.0 / 0.0 / 0.054.1 / 64.3 / 72.4May 21, 2023, 2:18 p.m.
2.5 qat night xieyi iter10.0 / 0.0 / 0.053.1 / 64.3 / 73.5May 24, 2023, 1:47 p.m.
float72.8 / 82.5 / 87.90.0 / 0.0 / 0.0May 19, 2023, 8:44 a.m.
2.5 float ckpt ft 2 night0.0 / 0.0 / 0.052.0 / 66.3 / 71.4May 21, 2023, 11:51 a.m.
ESAC (50 Experts)42.6 / 59.6 / 75.56.1 / 10.2 / 18.4Aug. 8, 2019, 7:14 a.m.
float0.0 / 0.0 / 0.049.0 / 62.2 / 72.4May 19, 2023, 8:44 a.m.
2.5 ptq 32bit day71.8 / 80.8 / 86.40.0 / 0.0 / 0.0May 22, 2023, 2:46 a.m.
ESAC (20 Experts)39.7 / 55.9 / 77.81.0 / 4.1 / 14.3Aug. 8, 2019, 7:13 a.m.
2.5 ptq day67.8 / 75.1 / 81.20.0 / 0.0 / 0.0May 22, 2023, 2:12 a.m.
2.5 ptq 32bit night0.0 / 0.0 / 0.051.0 / 58.2 / 65.3May 22, 2023, 2:46 a.m.
Superpoint+PQ46.2 / 65.9 / 86.50.0 / 0.0 / 0.0Sept. 17, 2019, 9:30 a.m.
m20.0 / 0.0 / 0.031.6 / 54.1 / 69.4Nov. 14, 2019, 11:38 p.m.
ESAC (10 Experts)30.3 / 49.3 / 73.70.0 / 0.0 / 9.2Aug. 8, 2019, 7:13 a.m.
2.5 ptq night0.0 / 0.0 / 0.035.7 / 44.9 / 51.0May 22, 2023, 2:12 a.m.
glace8.6 / 20.8 / 64.01.0 / 1.0 / 17.3June 14, 2024, 3:03 p.m.
ELF0.0 / 0.0 / 0.029.6 / 32.7 / 38.8May 3, 2019, 8:36 p.m.
DSAC++0.4 / 2.4 / 34.00.0 / 0.0 / 2.0Aug. 8, 2019, 7:15 a.m.
DenseVLAD0.0 / 0.1 / 22.80.0 / 1.0 / 19.4April 11, 2019, 5:43 p.m.
Localizing Visual Landmarks for Place Recognition0.0 / 0.2 / 20.80.0 / 0.0 / 17.3June 2, 2019, 10:06 p.m.
NetVLAD0.0 / 0.2 / 18.90.0 / 0.0 / 14.3May 31, 2019, 11:16 p.m.
NetVlad_NN_Pose0.0 / 0.1 / 7.00.0 / 0.0 / 4.1March 17, 2019, 11:46 a.m.
2.5 qat 32bit ft day0.6 / 0.8 / 3.50.0 / 0.0 / 0.0May 20, 2023, 7:47 a.m.
2.5 qat day 32bit freeze pos0.6 / 0.7 / 3.40.0 / 0.0 / 0.0May 22, 2023, 8:19 a.m.
2.5 qat night ft 1000 32bit0.0 / 0.0 / 0.01.0 / 1.0 / 2.0May 22, 2023, 3:02 p.m.
joint image segemation and depth to posenet0.0 / 0.1 / 24.90.0 / 0.0 / 0.0May 31, 2019, 11:45 a.m.
FAB-MAP0.0 / 0.0 / 4.60.0 / 0.0 / 0.0March 13, 2019, 11:54 a.m.
2.5 qat ft 32bit night0.0 / 0.0 / 0.00.0 / 0.0 / 4.1May 20, 2023, 7:47 a.m.
2.5 qat night 32bit freeze pos0.0 / 0.0 / 0.00.0 / 0.0 / 4.1May 22, 2023, 8:20 a.m.

Aachen Day-Night v1.1 dataset

Localization thresholds:

  • All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
MethoddaynightLast updated
MegLoc90.5 / 97.3 / 99.877.5 / 92.7 / 100.0Oct. 8, 2021, 5:14 a.m.
OSpace91.3 / 97.2 / 99.681.2 / 92.1 / 100.0Oct. 6, 2021, 2:49 p.m.
HHloc90.5 / 97.1 / 99.877.0 / 92.1 / 100.0Aug. 10, 2022, 2:51 a.m.
4Fun91.5 / 97.1 / 99.678.5 / 91.6 / 99.0Sept. 30, 2021, 1:35 a.m.
PtLine90.0 / 96.7 / 99.580.6 / 92.1 / 100.0Aug. 31, 2021, 8:28 a.m.
KAPTURE-R2D2-FUSION-50-PYCOLMAP91.3 / 97.0 / 99.578.5 / 91.6 / 100.0Sept. 29, 2021, 1:01 p.m.
KAPTURE-Fast-R2D2-FUSION-50-PYCOLMAP91.0 / 96.6 / 99.678.5 / 91.6 / 100.0Oct. 13, 2021, 1:52 p.m.
KAPTURE-R2D2-FUSION90.9 / 96.7 / 99.578.5 / 91.1 / 98.4Sept. 1, 2020, 6:22 a.m.
DFM90.3 / 96.5 / 99.574.3 / 91.6 / 99.5Nov. 30, 2021, 1:43 a.m.
SuperPoint + SuperGlue (Zero-Shot)90.3 / 96.4 / 99.478.0 / 90.6 / 100.0Aug. 19, 2023, 5:55 a.m.
hloc_5090.2 / 96.4 / 99.377.5 / 90.6 / 100.0Dec. 19, 2023, 7:23 a.m.
KRNet89.7 / 96.5 / 99.477.5 / 90.6 / 100.0June 29, 2021, 7:26 a.m.
RLOCS_v3.089.8 / 96.7 / 99.574.9 / 90.6 / 100.0Sept. 2, 2021, 1:57 a.m.
hloc-fusion90.5 / 96.5 / 99.676.4 / 90.6 / 99.0Sept. 13, 2021, 12:47 p.m.
TopicFM-fast90.4 / 96.4 / 99.278.5 / 91.6 / 99.5Aug. 15, 2023, 8:50 a.m.
eimp_4kpoints_netvlad5090.0 / 96.5 / 99.277.0 / 91.6 / 99.5May 1, 2023, 11:09 a.m.
LoFTR (Zero-Shot)90.0 / 96.2 / 99.479.1 / 91.6 / 100.0Aug. 19, 2023, 5:42 a.m.
superpoint90.3 / 96.4 / 99.377.0 / 90.6 / 100.0May 12, 2024, 10:29 a.m.
SP+SG(Aachen_v1.1)90.4 / 96.2 / 99.475.4 / 90.6 / 100.0July 24, 2024, 1:44 p.m.
SP+LG(Aachen-V1.1)90.3 / 96.2 / 99.376.4 / 91.1 / 99.0July 26, 2024, 9:32 a.m.
stretch_102489.9 / 96.2 / 98.879.1 / 91.1 / 99.5Feb. 28, 2024, 9:56 a.m.
Hierarchical Localization - SuperPoint + SuperGlue89.8 / 96.1 / 99.477.0 / 90.6 / 100.0Aug. 14, 2020, 7:35 a.m.
AdaMatcher-Quad89.2 / 95.9 / 99.279.1 / 92.1 / 99.5Oct. 28, 2022, 2:32 a.m.
PRISM89.4 / 96.2 / 99.378.5 / 91.1 / 99.5Aug. 9, 2024, 5:04 a.m.
kapture-test-0922-290.2 / 97.1 / 99.574.9 / 88.0 / 98.4Sept. 22, 2021, 12:15 p.m.
e17-a-a-t10089.9 / 96.5 / 99.574.9 / 90.1 / 99.5Nov. 3, 2021, 2:45 a.m.
e17-a-a-t4090.0 / 96.5 / 99.574.3 / 90.1 / 99.5Nov. 3, 2021, 1:56 a.m.
AdaMatcher89.2 / 96.0 / 99.379.1 / 90.6 / 99.5March 7, 2022, 2:11 p.m.
realmask_102489.9 / 96.2 / 98.979.1 / 90.6 / 99.5May 3, 2023, 9:25 a.m.
PATS89.6 / 95.8 / 99.373.8 / 92.1 / 99.5Nov. 12, 2022, 1:22 a.m.
e20-allt-allt89.6 / 96.4 / 99.374.9 / 91.1 / 99.5Nov. 2, 2021, 1:53 a.m.
ASTR89.9 / 95.6 / 99.276.4 / 92.1 / 99.5Jan. 27, 2023, 4:13 p.m.
online290.2 / 95.5 / 98.979.6 / 91.1 / 99.5Dec. 3, 2022, 6:52 p.m.
EfficientLoFTR89.6 / 96.2 / 99.077.0 / 91.1 / 99.5March 13, 2024, 1:21 p.m.
SATR88.1 / 95.5 / 99.278.5 / 91.6 / 99.5Nov. 17, 2021, 3:12 a.m.
TopicFM90.2 / 95.9 / 98.977.5 / 91.1 / 99.5Aug. 6, 2022, 11:18 a.m.
e20-h50089.0 / 96.0 / 99.074.9 / 90.6 / 99.5Nov. 15, 2021, 1:34 a.m.
ASpanFormer89.4 / 95.6 / 99.077.5 / 91.6 / 99.5March 5, 2022, 11:40 a.m.
sfd2_4000kpts_netvlad5088.2 / 96.0 / 98.778.0 / 92.1 / 99.5May 1, 2023, 11:14 a.m.
DKM (Zero-Shot)89.7 / 95.9 / 99.277.0 / 90.1 / 99.5Aug. 19, 2023, 5:31 a.m.
ONavi-V2.088.6 / 95.1 / 99.575.9 / 90.6 / 100.0March 18, 2021, 2:07 a.m.
SuperGlue + Patch2Pix (HLoc)89.3 / 95.8 / 99.278.0 / 90.6 / 99.0June 16, 2021, 6:43 p.m.
e20-h10089.7 / 96.2 / 99.373.8 / 90.1 / 99.5Nov. 29, 2021, 11:26 a.m.
imp_4kpoints_netvlad5089.1 / 95.4 / 99.075.9 / 92.7 / 99.5May 1, 2023, 11:10 a.m.
loftr88.8 / 95.8 / 98.877.5 / 91.1 / 99.0May 13, 2024, 1:08 a.m.
loftr_v388.8 / 95.8 / 98.877.5 / 91.1 / 99.0May 31, 2024, 8:52 a.m.
LoFTR88.7 / 95.6 / 99.078.5 / 90.6 / 99.0April 9, 2021, 1:38 a.m.
e17-h50089.7 / 96.1 / 99.074.3 / 90.6 / 99.0Nov. 15, 2021, 1:33 a.m.
MeshLoc (real images, LoFTR)88.7 / 95.1 / 98.778.0 / 92.7 / 99.5Sept. 21, 2022, 1:43 p.m.
KAPTURE-R2D2-APGeM90.0 / 96.2 / 99.572.3 / 86.4 / 97.9Sept. 1, 2020, 6:23 a.m.
superpoint+superglue baseline89.0 / 96.0 / 99.472.3 / 89.0 / 97.9Sept. 25, 2021, 5:24 a.m.
RLOCS88.8 / 95.4 / 99.074.3 / 90.6 / 98.4Sept. 24, 2020, 2:20 a.m.
RLOCS_v1.086.0 / 94.8 / 98.872.3 / 88.5 / 99.0Aug. 17, 2020, 1:43 a.m.
TaSP+netvlad2087.9 / 94.3 / 97.877.0 / 89.0 / 97.9Feb. 7, 2023, 1:22 a.m.
isrf_5k_o2s87.1 / 94.7 / 98.374.3 / 86.9 / 97.4July 29, 2020, 12:13 p.m.
loftr_train_self_baseline85.4 / 93.6 / 98.373.8 / 86.4 / 99.0July 8, 2024, 12:44 p.m.
Patch2Pix (HLoc)86.4 / 93.0 / 97.572.3 / 88.5 / 97.9June 16, 2021, 6:44 p.m.
DKM84.8 / 92.7 / 97.170.2 / 90.1 / 97.4Aug. 19, 2023, 5:22 a.m.
SP+NN(Aachen-V1.1)88.1 / 95.0 / 98.167.5 / 88.0 / 96.9July 26, 2024, 1:10 p.m.
D^2Former0.0 / 0.0 / 0.074.3 / 89.0 / 99.5Feb. 1, 2023, 7:19 a.m.
SuperPoint + SuperGlue [local feature challenge]0.0 / 0.0 / 0.073.3 / 88.0 / 98.4Dec. 29, 2020, 3:17 p.m.
LoFTR [local feature challenge]0.0 / 0.0 / 0.072.8 / 88.5 / 99.0April 9, 2021, 1:36 a.m.
SCFeat0.0 / 0.0 / 0.074.3 / 89.0 / 98.4Dec. 16, 2022, 9:23 a.m.
TaSP+official_matchlist0.0 / 0.0 / 0.074.3 / 88.0 / 97.9March 6, 2023, 1:13 p.m.
reseFeat0.0 / 0.0 / 0.075.4 / 87.4 / 96.9June 28, 2024, 1:02 a.m.
multi-att40.0 / 0.0 / 0.074.9 / 86.9 / 99.0June 4, 2024, 1:46 p.m.
PoSFeat0.0 / 0.0 / 0.073.8 / 87.4 / 98.4Aug. 8, 2022, 8:57 a.m.
isrf_o2s_[local_feature_challenge]0.0 / 0.0 / 0.069.1 / 87.4 / 98.4Aug. 18, 2020, 12:40 p.m.
LISRD + SuperPoint keypoints + Adalam0.0 / 0.0 / 0.073.3 / 86.9 / 97.9Aug. 18, 2020, 9:15 p.m.
MTLFeat0.0 / 0.0 / 0.074.3 / 86.9 / 96.9March 9, 2021, 1:13 p.m.
OaFeatV1.1_200_5000.0 / 0.0 / 0.072.8 / 86.4 / 98.4April 16, 2023, 2:12 p.m.
OaFeatV1.1_001_1000.0 / 0.0 / 0.072.8 / 86.4 / 98.4April 16, 2023, 4:41 p.m.
OaFeatV1.1_100_2000.0 / 0.0 / 0.073.3 / 86.4 / 98.4April 17, 2023, 4:28 a.m.
OaFeatV1.1_100_3000.0 / 0.0 / 0.073.3 / 86.4 / 98.4April 17, 2023, 6:46 a.m.
OaFeat_keypoint_bs8_adam_dest40_lr0.0 / 0.0 / 0.073.8 / 86.4 / 98.4April 26, 2023, 3:42 a.m.
CPCN-Feat0.0 / 0.0 / 0.074.9 / 85.9 / 97.9June 1, 2023, 9:14 a.m.
DualRC-Net 80000.0 / 0.0 / 0.071.2 / 86.9 / 97.9Aug. 12, 2020, 9:24 a.m.
R2D2_40K0.0 / 0.0 / 0.071.2 / 86.9 / 97.9Aug. 17, 2020, 5:20 p.m.
aslfeat-20k0.0 / 0.0 / 0.072.3 / 86.4 / 97.9Jan. 31, 2022, 1:07 p.m.
SADAFeat0.0 / 0.0 / 0.073.3 / 85.9 / 97.4Aug. 10, 2022, 1:49 a.m.
LISRD + SuperPoint keypoints0.0 / 0.0 / 0.072.3 / 86.4 / 97.4Aug. 7, 2020, 9:06 a.m.
sp4k_SGMNet0.0 / 0.0 / 0.072.3 / 85.3 / 97.9Nov. 28, 2020, 8:58 a.m.
ocadesc_0620_1.10.0 / 0.0 / 0.072.3 / 85.3 / 97.4May 24, 2023, 11:20 a.m.
SuperPoint+AANet[local feature challenge]0.0 / 0.0 / 0.071.7 / 86.4 / 96.9April 20, 2022, 1:16 p.m.
SuperPoint+MVNet0.0 / 0.0 / 0.071.2 / 85.9 / 95.3Nov. 25, 2021, 5:14 a.m.
MD-2-Net_20k0.0 / 0.0 / 0.069.1 / 84.8 / 97.9Feb. 3, 2023, 3:42 p.m.
DualRC-Net 20480.0 / 0.0 / 0.067.5 / 85.9 / 97.4Aug. 12, 2020, 4:19 a.m.
aslfeat-8k0.0 / 0.0 / 0.069.6 / 84.8 / 97.4Jan. 31, 2022, 1:07 p.m.
xdh83.3 / 90.4 / 93.761.3 / 77.0 / 85.3Aug. 7, 2023, 4:51 a.m.
r2d2-20k0.0 / 0.0 / 0.068.1 / 83.8 / 96.9Jan. 31, 2022, 1:05 p.m.
MD-2-Net_8k0.0 / 0.0 / 0.070.2 / 83.2 / 96.3Feb. 3, 2023, 3:42 p.m.
r2d2-8k0.0 / 0.0 / 0.066.0 / 82.2 / 94.8Jan. 31, 2022, 1:06 p.m.
LLF-Detector + R2D2-10K0.0 / 0.0 / 0.071.2 / 81.2 / 94.2April 16, 2021, 10:12 a.m.
hloc-zby90.3 / 96.4 / 99.443.5 / 47.1 / 51.3March 10, 2023, 12:15 p.m.
test176.5 / 85.9 / 94.134.6 / 41.4 / 49.7July 11, 2020, 10:07 a.m.
upright-sift-20k-0.85matchingthr0.0 / 0.0 / 0.062.3 / 78.5 / 90.1Jan. 31, 2022, 1:08 p.m.
dlreloc_2.4_log_no_check40.9 / 60.6 / 84.122.5 / 34.0 / 49.7March 3, 2022, 4:04 a.m.
xdh_trt_fp16_best0.0 / 0.0 / 0.060.7 / 76.4 / 84.8Dec. 27, 2023, 2:09 a.m.
xdhsift47.7 / 57.3 / 61.96.8 / 7.3 / 7.3Aug. 9, 2023, 9:36 a.m.
xdh_trt_fp160.0 / 0.0 / 0.061.8 / 75.9 / 84.3Dec. 25, 2023, 1:04 p.m.
xdh_trt0.0 / 0.0 / 0.061.3 / 75.4 / 84.8Dec. 22, 2023, 1:52 a.m.
upright-sift-8k-0.85matchingthr0.0 / 0.0 / 0.054.5 / 69.6 / 79.1Jan. 31, 2022, 1:08 p.m.
superpoint+superglue baseline0.0 / 0.0 / 7.80.0 / 0.0 / 11.0Sept. 23, 2021, 10:17 a.m.
loftr_本地v11.7 / 3.5 / 5.80.0 / 0.0 / 2.1May 30, 2024, 10:28 a.m.
loftr_v21.7 / 3.5 / 5.80.0 / 0.0 / 2.1May 31, 2024, 1:01 a.m.

CMU Seasons dataset

Localization thresholds:

  • All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
MethodurbansuburbanparkLast updated
SemSeq96.4 / 97.5 / 98.490.1 / 92.9 / 95.777.4 / 82.3 / 87.5June 27, 2021, 8:35 a.m.
ONavi-V3.093.6 / 96.6 / 98.581.3 / 88.6 / 94.268.5 / 77.7 / 86.4June 9, 2021, 9:51 a.m.
XRLocalization(GAM)93.5 / 96.0 / 98.381.1 / 87.6 / 94.567.1 / 76.1 / 86.1Nov. 17, 2022, 6:50 a.m.
UniGAN(RGBS)+NV+SP_rig_seq93.4 / 96.1 / 98.481.6 / 89.2 / 96.166.5 / 77.4 / 89.7Oct. 21, 2020, 8:06 a.m.
UniGAN(RGBS)+NV+SP_rig93.3 / 95.8 / 98.081.4 / 88.6 / 94.865.3 / 74.3 / 82.8Oct. 21, 2020, 8:15 a.m.
UniGAN(RGBS)+NV+SP92.4 / 95.0 / 98.075.9 / 82.1 / 91.056.8 / 65.1 / 81.7Jan. 20, 2020, 7:25 a.m.
Dynamic retrieval and pre-clustering for hfnet-mv392.0 / 94.9 / 97.974.6 / 82.1 / 91.656.0 / 65.4 / 81.2July 24, 2020, 1:52 a.m.
ONavi-V2.091.6 / 94.3 / 96.577.3 / 83.7 / 90.959.8 / 67.2 / 76.5March 24, 2021, 1:43 a.m.
UniGAN(RGB)+NV+SP92.1 / 94.8 / 98.075.9 / 81.6 / 90.855.5 / 64.1 / 81.0Jan. 20, 2020, 7:26 a.m.
Hierarchical-Localization NetVLAD+SuperPoint91.7 / 94.6 / 97.774.5 / 81.5 / 91.354.3 / 62.5 / 79.0June 1, 2019, 9:50 a.m.
SAMLoc91.2 / 94.0 / 97.373.4 / 80.7 / 91.151.9 / 61.0 / 77.8July 12, 2023, 9:05 a.m.
HFnet90.3 / 93.0 / 96.171.6 / 77.9 / 86.849.3 / 56.6 / 71.3July 24, 2020, 1:51 a.m.
LocalSfM (Upright RootSIFT) (has partial access to ground truth)72.8 / 74.1 / 76.155.2 / 57.7 / 61.341.8 / 44.5 / 48.7March 13, 2019, 11:42 a.m.
Semantic Match Consistency75.0 / 82.1 / 87.844.0 / 53.6 / 63.730.0 / 37.9 / 48.2March 18, 2019, 11:47 p.m.
Active Search v1.168.9 / 75.7 / 83.436.2 / 44.4 / 56.024.8 / 31.1 / 41.5Aug. 12, 2019, 6:38 a.m.
EffecientPairWise2D-3DMatching64.1 / 67.8 / 71.530.2 / 35.5 / 40.923.8 / 28.1 / 34.0March 20, 2019, 9:52 a.m.
IRUCC23.7 / 51.7 / 92.511.4 / 29.4 / 88.313.4 / 35.1 / 88.2July 10, 2020, 4:41 p.m.
PROCA24.9 / 53.4 / 92.712.0 / 30.4 / 83.314.1 / 35.2 / 82.6Sept. 10, 2022, 5:29 p.m.
LOC_NET_L24.5 / 52.7 / 92.411.9 / 30.2 / 81.813.8 / 34.6 / 82.6Feb. 17, 2021, 11:33 a.m.
LocNet23.6 / 51.3 / 90.011.7 / 30.0 / 77.013.2 / 33.3 / 79.0Jan. 25, 2021, 9:32 a.m.
MDAG24.1 / 48.7 / 84.811.6 / 27.6 / 70.013.3 / 33.3 / 74.5Oct. 5, 2022, 8:15 a.m.
DISAM(coarse2fine)22.6 / 47.3 / 89.111.1 / 27.5 / 77.612.6 / 31.3 / 80.0Sept. 17, 2020, 3:24 a.m.
DenseVLAD22.2 / 48.6 / 92.89.8 / 26.6 / 85.210.3 / 27.1 / 77.0April 15, 2019, 11:03 a.m.
DISAM(fine-only)22.7 / 46.4 / 85.411.3 / 27.2 / 71.913.2 / 32.2 / 76.9Sept. 17, 2020, 3:24 a.m.
Active Search55.2 / 60.3 / 65.120.7 / 25.9 / 29.912.7 / 16.3 / 20.8March 13, 2019, 9:04 a.m.
DISAM(coarse-only)20.1 / 45.0 / 89.99.9 / 25.6 / 78.611.3 / 29.1 / 80.1Sept. 17, 2020, 3:23 a.m.
DIFL+FCL (urban model and square-resized)20.2 / 44.7 / 87.89.7 / 25.0 / 73.711.4 / 28.9 / 76.4Sept. 25, 2019, 11:14 a.m.
DIFL+FCL20.2 / 45.0 / 87.19.1 / 23.3 / 69.310.1 / 26.4 / 74.0Sept. 25, 2019, 11:03 a.m.
NetVLAD17.4 / 40.3 / 93.27.6 / 21.0 / 80.55.6 / 15.7 / 65.8April 11, 2019, 9:16 p.m.
CityScaleLocalization36.7 / 42.0 / 53.18.6 / 11.7 / 21.17.0 / 9.6 / 17.0March 13, 2019, 11:59 a.m.
cmu_suburban_origin0.0 / 0.0 / 0.077.2 / 83.7 / 90.90.0 / 0.0 / 0.0April 28, 2021, 1:43 a.m.
slice9_FGSN_1000.0 / 0.0 / 0.027.1 / 27.9 / 28.60.0 / 0.0 / 0.0June 9, 2021, 1:35 a.m.
slice9_FGSN_seg_pnp_test0.0 / 0.0 / 0.027.2 / 27.9 / 28.40.0 / 0.0 / 0.0May 21, 2021, 9 a.m.
slice9_FSGN_top40_region33_new0.0 / 0.0 / 0.027.1 / 27.8 / 28.50.0 / 0.0 / 0.0May 18, 2021, 5:24 a.m.
slice9_FSGN_top30_region33_new0.0 / 0.0 / 0.027.0 / 27.8 / 28.50.0 / 0.0 / 0.0May 18, 2021, 1:28 a.m.
slice9_FGSN_33region_time0.0 / 0.0 / 0.026.8 / 27.6 / 28.30.0 / 0.0 / 0.0May 19, 2021, 1:34 a.m.
slice9_FGSN_3region0.0 / 0.0 / 0.026.2 / 26.9 / 27.80.0 / 0.0 / 0.0May 13, 2021, 1:53 a.m.
slice9_FGSN_1pixel0.0 / 0.0 / 0.025.9 / 26.8 / 27.80.0 / 0.0 / 0.0June 7, 2021, 3:31 a.m.
only_slice90.0 / 0.0 / 0.025.8 / 26.7 / 27.90.0 / 0.0 / 0.0May 10, 2021, 1:17 a.m.
FAB-MAP2.7 / 6.4 / 27.30.5 / 1.5 / 13.60.8 / 1.7 / 11.5March 13, 2019, 11:49 a.m.
slice2_10pnp_single9.9 / 10.4 / 11.10.0 / 0.0 / 0.00.0 / 0.0 / 0.0March 31, 2021, 8:36 a.m.
slice2_10pnp_single_32008.8 / 9.2 / 9.80.0 / 0.0 / 0.00.0 / 0.0 / 0.0March 31, 2021, 8:42 a.m.
slice2_allpnp_single_3200_v18.6 / 9.2 / 9.90.0 / 0.0 / 0.00.0 / 0.0 / 0.0March 31, 2021, 8:48 a.m.
slice2_allpnp_single_32008.5 / 9.1 / 9.70.0 / 0.0 / 0.00.0 / 0.0 / 0.0March 31, 2021, 8:43 a.m.
pixloc0.0 / 0.0 / 0.00.0 / 0.0 / 0.00.0 / 0.0 / 0.0Aug. 9, 2023, 12:23 p.m.

Extended CMU Seasons dataset

Localization thresholds:

  • All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
MethodurbansuburbanparkLast updated
locSlam (d2net)98.2 / 99.9 / 100.099.4 / 99.9 / 100.098.2 / 100.0 / 100.0June 21, 2022, 2:25 p.m.
PFSL FGSN 200 classes (sequential localization)94.1 / 99.3 / 100.0100.0 / 100.0 / 100.097.6 / 99.9 / 99.9Nov. 4, 2019, 1:37 p.m.
locSlam (SIFT)98.2 / 100.0 / 100.099.1 / 100.0 / 100.091.1 / 98.5 / 100.0June 21, 2022, 2:25 p.m.
Hierarchical Localization - SuperPoint + SuperGlue (multi-camera)98.1 / 99.8 / 99.998.3 / 99.5 / 100.094.2 / 97.1 / 98.5Aug. 14, 2020, 6:47 a.m.
DeViLoc (15refs)96.5 / 98.9 / 99.397.7 / 98.8 / 99.893.1 / 96.1 / 97.1Nov. 24, 2023, 1:41 p.m.
KAPTURE-R2D2-FUSION97.0 / 99.1 / 99.895.0 / 97.0 / 99.489.2 / 93.4 / 97.5Sept. 1, 2020, 6:24 a.m.
DeViLoc95.7 / 98.4 / 99.297.1 / 98.3 / 99.492.1 / 95.1 / 96.3April 18, 2024, 6:01 a.m.
PFSL Cityscapes classes (sequential localization)88.1 / 93.8 / 100.097.4 / 99.2 / 100.081.8 / 97.2 / 99.9Nov. 4, 2019, 1:40 p.m.
DenseVLAD & D2-Net94.0 / 97.7 / 99.193.0 / 95.7 / 98.389.2 / 93.2 / 95.0Feb. 25, 2020, 9:10 p.m.
KAPTURE-R2D2-APGeM96.7 / 98.9 / 99.794.4 / 96.8 / 99.283.6 / 89.0 / 95.5July 29, 2020, 12:31 p.m.
Hierarchical Localization (single-camera) + PixLoc96.9 / 98.9 / 99.393.3 / 95.4 / 97.187.0 / 89.5 / 91.6Nov. 19, 2020, 4:13 p.m.
d2_eigen2048_heavy91.2 / 96.2 / 98.892.1 / 95.9 / 99.280.5 / 86.9 / 94.0June 21, 2024, 11:11 a.m.
d2_eigen2048_heavy91.3 / 96.4 / 98.892.1 / 95.8 / 99.280.5 / 86.7 / 93.8May 26, 2024, 12:52 a.m.
Hierarchical Localization - SuperPoint + SuperGlue (single-camera)95.5 / 98.6 / 99.390.9 / 94.2 / 97.185.7 / 89.0 / 91.6Nov. 11, 2020, 1:25 p.m.
sfd2_4000kpts95.0 / 97.5 / 98.690.5 / 92.7 / 95.386.4 / 89.1 / 91.2May 1, 2023, 11:09 a.m.
PixLoc (end-to-end with oracle)92.8 / 95.1 / 98.591.9 / 93.4 / 95.884.0 / 85.8 / 90.9Nov. 19, 2020, 4:06 p.m.
d2_eigen204890.3 / 95.4 / 98.490.2 / 93.9 / 98.175.2 / 81.8 / 91.0May 23, 2024, 7:06 a.m.
d2_eigen204890.2 / 95.4 / 98.490.0 / 93.8 / 98.175.0 / 81.7 / 90.9April 7, 2024, 10:03 a.m.
d2_eigen204890.0 / 95.2 / 98.189.1 / 93.0 / 97.473.9 / 80.4 / 89.1April 21, 2024, 1:37 a.m.
d2_salad_heavy90.3 / 95.1 / 98.189.7 / 93.4 / 97.872.6 / 79.4 / 88.9May 24, 2024, 11:32 p.m.
Hierarchical-Localization (multi-camera when available)91.6 / 96.4 / 99.184.7 / 91.5 / 98.669.3 / 77.8 / 90.5June 2, 2019, 6:55 a.m.
d2_eigen51288.1 / 93.5 / 97.387.4 / 91.9 / 97.573.7 / 80.6 / 90.2March 26, 2024, 9:29 p.m.
d2_mixvpr409689.6 / 94.4 / 97.687.8 / 91.9 / 96.971.3 / 77.6 / 87.3April 5, 2024, 1:07 p.m.
isrf_5k_o2s93.8 / 96.6 / 98.283.5 / 86.8 / 90.576.4 / 80.9 / 85.7July 29, 2020, 5:17 a.m.
d2_salad89.6 / 94.5 / 97.487.3 / 91.3 / 96.669.3 / 75.4 / 84.6April 26, 2024, 10:48 p.m.
d2_gcl89.0 / 94.0 / 97.086.5 / 90.4 / 95.867.0 / 73.1 / 81.8May 3, 2024, 11 p.m.
d2_mixvpr86.8 / 92.2 / 96.584.1 / 89.1 / 96.668.1 / 75.0 / 87.6March 26, 2024, 9:30 p.m.
d288.0 / 92.9 / 96.184.4 / 88.5 / 94.463.8 / 69.5 / 78.7March 26, 2024, 8:43 a.m.
sdf2_eigen204888.9 / 93.6 / 96.880.9 / 85.1 / 92.363.3 / 68.9 / 78.4April 14, 2024, 12:01 a.m.
Visual Localization Using Sparse Semantic 3D Map88.8 / 93.6 / 96.378.0 / 83.8 / 89.263.6 / 70.3 / 77.3June 2, 2019, 4 a.m.
CU-LTVL90.3 / 94.8 / 97.876.9 / 83.0 / 91.857.5 / 64.3 / 78.8Feb. 20, 2020, 9:05 a.m.
Hierarchical-Localization NetVLAD+SuperPoint89.5 / 94.2 / 97.976.5 / 82.7 / 92.757.4 / 64.4 / 80.4June 1, 2019, 9:50 a.m.
sdf287.9 / 92.6 / 95.778.3 / 82.4 / 89.359.5 / 64.4 / 73.0April 14, 2024, midnight
MOCNet89.0 / 91.1 / 94.682.2 / 83.4 / 86.163.8 / 65.6 / 70.0Jan. 17, 2022, 9:24 a.m.
Asymmetric Hypercolumn Matching65.7 / 82.7 / 91.066.5 / 82.6 / 92.954.3 / 71.6 / 84.1June 5, 2019, 7:24 p.m.
PixLoc (end-to-end)88.3 / 90.4 / 93.779.6 / 81.1 / 85.261.0 / 62.5 / 69.4Nov. 19, 2020, 4:06 p.m.
Match Consistency with Fine-Grained Segmentations (FGSN+SSMC)85.3 / 91.0 / 94.669.5 / 76.4 / 83.751.4 / 57.6 / 65.5Aug. 20, 2019, 6:34 a.m.
Match Consistency with Fine-Grained Segmentations (GSMC-200)86.4 / 91.2 / 93.877.0 / 82.9 / 88.738.9 / 43.4 / 50.0Aug. 20, 2019, 7:44 p.m.
superpoint_eigen82.1 / 86.9 / 91.670.9 / 75.9 / 85.348.5 / 53.9 / 64.5March 22, 2024, 4:28 p.m.
Localizing Visual Landmarks for 2D matching84.3 / 89.3 / 93.068.0 / 75.1 / 84.442.4 / 51.4 / 69.7April 25, 2019, 8:12 a.m.
r2d2_eigen80.2 / 84.8 / 92.567.5 / 72.7 / 85.346.6 / 51.5 / 67.1March 23, 2024, 8:44 a.m.
Active Search v1.181.0 / 87.3 / 92.462.6 / 70.9 / 81.045.5 / 51.6 / 62.0April 26, 2020, 9:27 a.m.
superpoint76.9 / 81.8 / 86.963.3 / 68.5 / 77.140.0 / 44.6 / 53.7March 22, 2024, 11:40 p.m.
r2d273.9 / 78.5 / 85.057.6 / 62.1 / 72.036.0 / 39.9 / 49.2May 17, 2024, 11:07 p.m.
r2d273.8 / 78.0 / 84.657.4 / 62.1 / 71.736.1 / 39.9 / 49.4March 22, 2024, 11:39 p.m.
CityScaleLocalization71.2 / 74.6 / 78.757.8 / 61.7 / 67.534.5 / 37.0 / 42.2March 8, 2019, 8:20 p.m.
Active Search73.1 / 78.0 / 80.352.6 / 59.0 / 63.933.6 / 37.8 / 41.3Dec. 19, 2019, 12:35 p.m.
r2d2_eigen12866.2 / 71.7 / 83.050.5 / 56.9 / 73.928.7 / 32.9 / 48.0March 26, 2024, 9:30 p.m.
r2d2_mixvpr63.8 / 70.1 / 82.145.2 / 51.7 / 70.125.1 / 29.4 / 46.2March 26, 2024, 9:35 p.m.
LocFeatsBaseline53.1 / 62.6 / 88.640.9 / 47.6 / 76.820.4 / 26.3 / 51.3April 15, 2020, 7:12 a.m.
sgVLAD + ELF58.3 / 65.8 / 69.046.5 / 54.2 / 57.916.1 / 19.2 / 20.7May 7, 2020, 5:13 a.m.
LocFeatsPoseLossNotDone50.8 / 57.5 / 89.138.8 / 42.3 / 77.620.6 / 23.5 / 52.2April 15, 2020, 7:13 a.m.
d2_crica89.3 / 94.3 / 97.310.0 / 10.3 / 10.90.0 / 0.0 / 0.0April 28, 2024, 12:14 a.m.
double-domain Adaptation Semantics(L1)18.9 / 44.9 / 89.37.5 / 23.9 / 85.18.7 / 29.8 / 81.9Sept. 21, 2023, 1:13 p.m.
double-domain Adaptation Semantics18.4 / 43.4 / 88.17.2 / 23.4 / 84.28.6 / 29.1 / 81.2Sept. 20, 2023, 8:41 a.m.
IRUCC16.9 / 41.8 / 92.66.8 / 23.4 / 93.67.4 / 27.3 / 87.4July 10, 2020, 9:28 p.m.
Learning Robust Representation and Sequence Constraint17.9 / 43.3 / 92.06.9 / 22.7 / 90.78.3 / 28.1 / 86.6Nov. 11, 2023, 1:05 p.m.
Learning invariant semantic representation for long-term robust visual localization17.6 / 42.1 / 91.36.8 / 22.2 / 90.28.0 / 27.5 / 85.9May 10, 2023, 2:29 a.m.
DASGIL-FD17.4 / 42.0 / 91.16.7 / 22.1 / 88.57.9 / 26.9 / 83.5April 18, 2021, 4:10 p.m.
DASGIL-CD17.3 / 42.2 / 90.56.5 / 21.5 / 86.57.5 / 25.3 / 79.2April 18, 2021, 4:11 p.m.
xdh89.5 / 92.4 / 93.40.0 / 0.0 / 0.00.0 / 0.0 / 0.0Aug. 10, 2023, 4:36 p.m.
xdh_trt88.6 / 91.6 / 92.80.0 / 0.0 / 0.00.0 / 0.0 / 0.0Dec. 22, 2023, 9:42 a.m.
changyolee_hmc_only_cpu_model_20Mb_low_computing_device(hmc_visual_localization)83.1 / 91.7 / 96.80.0 / 0.0 / 0.00.0 / 0.0 / 0.0Sept. 24, 2024, 1:23 a.m.
BOA_XFeat_Estimate_Calib_20Mb_changyolee83.1 / 91.7 / 96.80.0 / 0.0 / 0.00.0 / 0.0 / 0.0Sept. 24, 2024, 1:29 a.m.
Localizing Visual Landmarks for Place Recognition17.3 / 42.5 / 89.05.8 / 19.4 / 76.16.6 / 23.1 / 73.0June 2, 2019, 10:07 p.m.
DGCNCCC17.1 / 41.5 / 89.18.9 / 26.8 / 77.14.8 / 16.2 / 63.3June 2, 2019, 1:27 p.m.
xdh_trt_fp1686.6 / 89.5 / 90.70.0 / 0.0 / 0.00.0 / 0.0 / 0.0Dec. 25, 2023, 1:06 p.m.
Netvlad_localization16.4 / 38.5 / 78.98.8 / 27.1 / 77.04.7 / 16.0 / 63.2June 25, 2019, 9:44 p.m.
SILK_NETVLAD_LARGEMODEL_20CAN_CHANGYO78.4 / 84.0 / 90.60.0 / 0.0 / 0.00.0 / 0.0 / 0.0Feb. 26, 2024, 11:56 a.m.
DenseVLAD14.7 / 36.3 / 83.95.3 / 18.7 / 73.95.2 / 19.1 / 62.0March 12, 2019, 3:21 p.m.
DIFL-FCL14.8 / 35.1 / 79.65.6 / 18.2 / 69.86.1 / 20.7 / 69.1Feb. 25, 2020, 3:24 a.m.
JHJ_CG_ZUN_TY_ALEX_SS_TAEIN(can-50)61.0 / 66.9 / 74.50.0 / 0.0 / 0.00.0 / 0.0 / 0.0Dec. 13, 2023, 1:51 a.m.
JHJ_CG_ZUN_TY_ALEX_SS_TAEIN(can-20)59.5 / 64.3 / 72.80.0 / 0.0 / 0.00.0 / 0.0 / 0.0Dec. 13, 2023, 1:50 a.m.
NetVLAD12.2 / 31.5 / 89.83.7 / 13.9 / 74.72.6 / 10.4 / 55.9June 2, 2019, 9:12 a.m.
wasabi7.9 / 21.3 / 75.23.8 / 13.9 / 67.32.4 / 9.1 / 54.5May 4, 2020, 8:20 a.m.
sgVLAD7.3 / 19.9 / 76.93.6 / 12.8 / 69.12.1 / 9.1 / 57.4May 4, 2020, 8:32 a.m.
joint image segemation and depth to posenet0.3 / 1.5 / 31.90.1 / 0.3 / 12.50.0 / 0.2 / 9.0May 31, 2019, 11:46 a.m.
xdhsift0.4 / 0.8 / 7.20.0 / 0.0 / 0.00.0 / 0.0 / 0.0Aug. 11, 2023, 2:36 a.m.

RobotCar Seasons dataset

Localization thresholds:

  • All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
Methodday allnight allLast updated
Lenovo Research SH-HPloc57.0 / 82.0 / 99.543.7 / 73.7 / 94.2June 3, 2024, 2:40 a.m.
KAPTURE-R2D2-FUSION-50-PyCOLMAP-Rig53.9 / 81.7 / 99.742.8 / 73.7 / 94.4Oct. 7, 2021, 7:57 a.m.
KAPTURE-Fast-R2D2-FUSION-50-PyCOLMAP-Rig54.0 / 81.7 / 99.442.3 / 75.2 / 95.6Oct. 11, 2021, 7:44 a.m.
Hierarchical Localization (single-camera) + PixLoc56.9 / 82.0 / 98.134.9 / 67.7 / 89.5Nov. 19, 2020, 4:13 p.m.
DeViLoc56.9 / 81.8 / 98.031.3 / 68.9 / 92.4April 18, 2024, 6 a.m.
Hierarchical Localization - SuperPoint + SuperGlue (multi-camera)55.7 / 82.0 / 97.637.7 / 71.5 / 91.1Nov. 14, 2020, 2:13 p.m.
ONavi_multi_cam53.9 / 81.9 / 99.733.7 / 67.3 / 93.7Aug. 27, 2021, 9:22 a.m.
sfd2_4000kpts_netvlad20_rear56.9 / 81.6 / 97.435.3 / 68.7 / 90.1May 1, 2023, 11:10 a.m.
DM_VLOC56.7 / 81.6 / 98.133.9 / 66.7 / 89.5Feb. 25, 2021, 9:28 a.m.
Hierarchical Localization - SuperPoint + SuperGlue (single-camera)56.9 / 81.7 / 98.133.3 / 65.9 / 88.8Nov. 14, 2020, 2:14 p.m.
hloc + multicam53.1 / 81.5 / 98.131.8 / 68.0 / 91.2Feb. 25, 2021, 6:22 a.m.
KAPTURE-R2D2-APGeM55.1 / 82.1 / 97.328.8 / 58.8 / 89.4July 29, 2020, 12:30 p.m.
RT_AP_IR+CRBNet55.3 / 81.8 / 98.511.5 / 26.5 / 39.2March 6, 2020, 2:38 a.m.
XRLocalization(GAM)57.8 / 81.6 / 97.412.6 / 35.3 / 69.4Nov. 17, 2022, 3:24 a.m.
Visual Localization Using Dense Semantic 3D Map And Hybrid Features54.6 / 81.9 / 96.914.8 / 33.0 / 51.3May 26, 2020, 4:51 a.m.
SIFT+IR50+SIG+FM+R70_85+MUL+RE3+GPNP+MERGE57.2 / 81.5 / 97.49.3 / 30.1 / 53.3Sept. 2, 2019, 2:03 a.m.
Geometric Prior Guided Camera Localization57.3 / 81.7 / 97.68.0 / 21.6 / 40.7March 1, 2020, 10:14 a.m.
S_IR_G_BD_AR_merge57.2 / 81.5 / 97.49.3 / 30.1 / 53.3Jan. 4, 2021, 9:48 a.m.
Visual Localization Using Sparse Semantic 3D Map54.5 / 81.6 / 96.712.3 / 28.5 / 46.5June 2, 2019, 4 a.m.
hloc + multicam50.8 / 80.8 / 97.525.4 / 61.5 / 89.9Feb. 25, 2021, 1:46 a.m.
Active Search v1.1 w/ pose prior, image triplets52.4 / 81.4 / 97.512.6 / 23.2 / 42.0April 10, 2020, 6:28 p.m.
DenseVLAD (top-20) & D2-Net - camera triplets53.0 / 81.5 / 96.328.6 / 50.0 / 67.5June 17, 2020, 12:46 p.m.
PixLoc (end-to-end with oracle)55.8 / 80.8 / 96.423.6 / 40.3 / 77.8Nov. 19, 2020, 4:06 p.m.
ALL_NV_SP53.9 / 80.4 / 97.58.1 / 21.0 / 35.3April 9, 2020, 2:17 a.m.
S2DHM feature optimization52.8 / 80.0 / 95.234.4 / 69.7 / 94.6May 24, 2020, 12:38 p.m.
DenseVLAD & D2-Net54.5 / 80.0 / 95.320.4 / 40.1 / 55.0Oct. 31, 2019, 12:58 a.m.
Hierarchical-Localization (multi-camera when available)53.8 / 80.4 / 96.011.2 / 27.7 / 49.1June 2, 2019, 6:54 a.m.
ToDayGan, NetVLAD, D2-Net52.2 / 80.1 / 95.920.3 / 46.8 / 73.7Dec. 12, 2019, 7:57 p.m.
S_IR_G_AR51.2 / 79.1 / 96.88.7 / 28.2 / 53.9Jan. 4, 2021, 9:42 a.m.
S_IR_G_BD_AR51.2 / 79.1 / 96.88.7 / 28.2 / 53.9Jan. 4, 2021, 9:45 a.m.
Semantic Match Consistency50.3 / 79.3 / 95.27.1 / 22.4 / 45.3March 18, 2019, 11:47 p.m.
Active Search v1.1 w/ pose prior50.9 / 80.2 / 96.66.9 / 15.6 / 31.7April 26, 2020, 9:28 a.m.
superpoint52.3 / 78.9 / 94.315.9 / 37.8 / 87.8Oct. 11, 2019, 9:28 a.m.
Active Search on sequences of camera triplets (uses ground truth relative poses)46.6 / 80.1 / 97.05.8 / 21.0 / 43.1March 13, 2019, 12:03 p.m.
Hierarchical-Localization NetVLAD+SuperPoint53.1 / 79.1 / 95.57.2 / 17.4 / 34.4June 1, 2019, 9:50 a.m.
msnet53.2 / 78.4 / 96.44.0 / 11.3 / 21.3Oct. 31, 2019, 12:38 p.m.
NetVLAD+DISP49.0 / 78.0 / 95.128.2 / 67.7 / 94.5Oct. 27, 2020, 7:16 p.m.
SAMLoc52.3 / 78.9 / 94.74.6 / 13.0 / 27.6July 12, 2023, 9:05 a.m.
Asymmetric Hypercolumn Matching45.7 / 78.0 / 95.122.3 / 61.8 / 94.5June 5, 2019, 7:25 p.m.
s2dhm46.4 / 77.6 / 95.130.0 / 68.8 / 94.6Oct. 11, 2019, 3:31 a.m.
PixLoc (end-to-end)52.7 / 77.5 / 93.912.0 / 20.7 / 45.4Nov. 19, 2020, 4:06 p.m.
Active Search v1.1, image triplets49.7 / 79.7 / 95.54.7 / 11.4 / 21.9April 10, 2020, 6:30 p.m.
pixloc_my52.1 / 76.9 / 94.012.1 / 21.9 / 42.8May 21, 2024, 4:40 p.m.
Localizing Visual Landmarks for 2D matching51.1 / 77.7 / 92.313.8 / 30.3 / 57.7May 16, 2019, 2:09 a.m.
HF_DCE_de_n49.0 / 76.3 / 94.110.7 / 31.7 / 57.5July 20, 2020, 2:42 a.m.
HF_SG_4096_nv_50_sp48.5 / 75.8 / 93.79.7 / 28.8 / 55.9July 9, 2020, 12:09 p.m.
HF_DCE_de49.0 / 76.3 / 94.19.8 / 28.5 / 51.0July 11, 2020, 4:20 a.m.
HF_SG_4096_nv_50_sp48.5 / 75.8 / 93.78.8 / 25.3 / 48.4July 8, 2020, 2:05 a.m.
EffecientPairWise2D-3DMatching42.6 / 78.2 / 95.78.5 / 14.1 / 20.6March 20, 2019, 9:52 a.m.
Cascaded Parallel Filtering for Memory-Efficient Image-based Localization48.0 / 78.0 / 94.23.4 / 9.5 / 17.0July 19, 2019, 10:08 a.m.
HFnet51.6 / 76.8 / 91.43.9 / 11.7 / 18.8June 23, 2020, 6:15 a.m.
DM_Own_112052.0 / 76.6 / 91.54.1 / 8.4 / 11.8Nov. 20, 2020, 1:50 p.m.
Active Seach on Camera Triplets45.5 / 77.0 / 94.72.7 / 6.9 / 12.1March 13, 2019, 9:31 a.m.
Active Search v1.143.6 / 76.0 / 94.01.8 / 7.4 / 14.2April 26, 2020, 9:28 a.m.
CityScaleLocalization45.3 / 73.5 / 90.10.6 / 2.6 / 7.2March 13, 2019, 11:59 a.m.
Active Search35.6 / 67.9 / 90.40.9 / 2.1 / 4.3March 13, 2019, 9:04 a.m.
NetVLAD+SSM(stage II)10.1 / 39.7 / 95.95.4 / 21.6 / 71.0April 24, 2020, 10:06 p.m.
SSM10.1 / 39.5 / 94.25.1 / 20.2 / 62.0April 25, 2020, 7:36 a.m.
DenseVLAD (single-scale, top-1 interpolation)9.8 / 32.8 / 90.71.8 / 6.6 / 25.6May 29, 2019, 3:27 p.m.
ToDayGAN + DenseVLAD7.6 / 31.2 / 91.22.2 / 10.8 / 50.5May 27, 2019, 8:05 p.m.
DenseVLAD (single-scale)8.1 / 31.8 / 90.71.3 / 5.7 / 25.5May 29, 2019, 1 p.m.
Learning Robust Representation and Sequence Constraint(L1)9.0 / 31.9 / 86.41.9 / 6.5 / 23.3Nov. 11, 2023, 1:18 p.m.
Localizing Visual Landmarks for Place Recognition7.9 / 30.0 / 85.94.1 / 15.7 / 59.1June 2, 2019, 10:07 p.m.
Learning invariant semantic representation for long-term robust visual localization9.0 / 32.3 / 84.52.8 / 7.4 / 25.1May 10, 2023, 2:32 a.m.
Learning Robust Representation and Sequence Constraint(L2)8.4 / 29.2 / 86.93.9 / 9.5 / 33.1Nov. 11, 2023, 1:18 p.m.
double-domain Adaptation Semantics8.9 / 31.6 / 81.03.3 / 8.7 / 23.1Sept. 20, 2023, 8:41 a.m.
DenseVLAD7.6 / 31.2 / 91.21.0 / 4.4 / 22.7April 11, 2019, 5:44 p.m.
DenseVLAD (single scale) with CLAHE pre-processing7.4 / 30.1 / 88.70.9 / 5.0 / 25.3Aug. 23, 2019, 12:37 p.m.
DASGIL-FD8.7 / 30.7 / 81.31.7 / 4.6 / 20.7May 8, 2021, 4:49 a.m.
NetVLAD6.4 / 26.3 / 90.90.3 / 2.3 / 15.9June 2, 2019, 9:12 a.m.
MDAG-Net8.6 / 30.9 / 75.11.4 / 3.8 / 9.9June 5, 2024, 1:42 a.m.
DGCNCCC7.2 / 28.3 / 87.60.0 / 1.1 / 13.4May 21, 2019, 7:38 a.m.
nearest_neighbor4.1 / 17.9 / 87.02.4 / 11.6 / 84.6Oct. 11, 2019, 9:09 a.m.
DISAM(coarse-only)7.4 / 25.8 / 77.63.3 / 8.7 / 24.8Sept. 17, 2020, 3:23 a.m.
DIFL+FCL7.6 / 26.2 / 75.92.5 / 6.5 / 15.8April 3, 2020, 3:34 a.m.
COCL_HR12.7 / 60.6 / 75.40.5 / 1.6 / 2.2May 30, 2019, 9:20 a.m.
DISAM(fine-only)8.2 / 27.0 / 62.72.1 / 4.8 / 12.1Sept. 17, 2020, 3:23 a.m.
MinkLoc3D3.1 / 13.0 / 84.61.7 / 8.9 / 72.0Nov. 8, 2020, 9:43 p.m.
DASGIL-CD7.5 / 27.5 / 74.80.2 / 1.8 / 5.1May 9, 2021, 5:24 a.m.
FAB-MAP2.7 / 11.8 / 37.30.0 / 0.0 / 0.0March 13, 2019, 11:50 a.m.
joint image segemation and depth to posenet0.1 / 0.8 / 31.00.0 / 0.0 / 0.0May 31, 2019, 11:46 a.m.
baseline_8000.0 / 0.0 / 0.05.2 / 16.5 / 34.4Nov. 9, 2019, 7:12 a.m.

RobotCar Seasons v2 dataset

Localization thresholds:

  • All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
Methodday allnight allLast updated
MegLoc66.6 / 95.4 / 100.051.5 / 90.0 / 100.0Oct. 7, 2021, 3:54 p.m.
KAPTURE-R2D2-FUSION66.0 / 95.1 / 100.046.2 / 76.5 / 91.4Sept. 1, 2020, 6:23 a.m.
4Fun65.1 / 94.9 / 100.049.2 / 89.7 / 99.3Sept. 29, 2021, 9:19 a.m.
OSpace63.8 / 94.6 / 100.041.3 / 89.0 / 100.0Sept. 30, 2021, 11:16 a.m.
Hierarchical Localization - SuperPoint + SuperGlue (multi-camera)63.8 / 95.0 / 100.045.0 / 86.2 / 94.6Aug. 13, 2020, 12:22 p.m.
KAPTURE-R2D2-FUSION-50-PyCOLMAP-Rig61.7 / 94.6 / 100.051.5 / 87.4 / 99.5Oct. 7, 2021, 7:58 a.m.
KAPTURE-Fast-R2D2-FUSION-50-PyCOLMAP-Rig61.6 / 94.5 / 100.050.1 / 87.9 / 100.0Oct. 11, 2021, 7:45 a.m.
hloc-multicamera-netvlad50-8-triple-rear62.4 / 94.4 / 100.046.6 / 86.9 / 97.7Sept. 10, 2021, 11:40 a.m.
Hierarchical Localization - SuperPoint + SuperGlue (single-camera)64.8 / 94.5 / 99.939.2 / 80.0 / 92.3Nov. 11, 2020, 1:27 p.m.
test10.0 / 0.0 / 0.00.0 / 0.0 / 0.0July 11, 2020, 10:05 a.m.

InLoc dataset

Localization thresholds:

  • All conditions: (0.25m, 10°) / (0.5m, 10°) / (1m, 10°)
Methodduc1duc2Last updated
Loc-PL64.6 / 84.8 / 93.476.3 / 86.3 / 88.5Oct. 8, 2024, 7:59 a.m.
PCLoc (3,000)59.6 / 78.3 / 89.471.0 / 93.1 / 93.9Nov. 17, 2020, 8:04 a.m.
PCLoc (4,096)60.6 / 79.8 / 90.470.2 / 92.4 / 93.1Nov. 17, 2020, 8 a.m.
MASt3R top4056.1 / 79.3 / 90.971.0 / 87.0 / 91.6March 8, 2024, 9:38 a.m.
roma_indoor60.6 / 79.3 / 89.966.4 / 83.2 / 87.8Aug. 3, 2023, 4:19 p.m.
RenderNet60.6 / 77.3 / 88.975.6 / 83.2 / 85.5July 14, 2021, 11:58 a.m.
DKM (Zero-Shot)57.1 / 78.8 / 88.470.2 / 91.6 / 92.4Sept. 7, 2023, 8:34 a.m.
RenderNet58.6 / 77.8 / 89.474.8 / 82.4 / 85.5Jan. 29, 2023, 6:50 a.m.
LoFTR (Zero-Shot)54.5 / 78.3 / 87.463.4 / 83.2 / 87.0Aug. 31, 2023, 11:45 a.m.
SuperPoint + SuperGlue (Zero-Shot)53.5 / 76.8 / 86.961.8 / 85.5 / 87.8Aug. 31, 2023, 11:48 a.m.
MegLoc50.5 / 73.7 / 88.959.5 / 86.3 / 91.6Oct. 8, 2021, 6:36 a.m.
hloc + DKM51.5 / 75.3 / 86.963.4 / 82.4 / 87.8Feb. 2, 2023, 5:23 p.m.
EfficientLoFTR52.0 / 74.7 / 86.958.0 / 80.9 / 89.3March 13, 2024, 1:21 p.m.
stretch_1024_50px56.1 / 74.7 / 86.955.0 / 79.4 / 87.0Oct. 30, 2023, 9:36 a.m.
PATS55.6 / 71.2 / 81.858.8 / 80.9 / 85.5Nov. 12, 2022, 1:23 a.m.
realmask_102451.5 / 74.2 / 86.458.0 / 79.4 / 86.3May 1, 2023, 12:45 p.m.
TopicFM-fast53.0 / 76.3 / 86.457.3 / 74.8 / 84.7Aug. 15, 2023, 8:52 a.m.
PRISM53.0 / 77.8 / 87.954.2 / 72.5 / 83.2Aug. 9, 2024, 5:02 a.m.
PtLine50.5 / 72.7 / 86.961.8 / 79.4 / 84.0Aug. 31, 2021, 8:29 a.m.
FMAP52.0 / 72.2 / 85.456.5 / 78.6 / 87.8March 29, 2023, 7:20 a.m.
MRMatcher50.5 / 75.8 / 85.956.5 / 75.6 / 86.3Aug. 20, 2023, 5:12 a.m.
OSpace52.5 / 73.2 / 85.466.4 / 79.4 / 82.4Sept. 17, 2021, 8:40 a.m.
ASTR53.0 / 73.7 / 87.452.7 / 76.3 / 84.0Jan. 27, 2023, 4:13 p.m.
OAMatcher51.0 / 75.8 / 84.855.0 / 77.1 / 84.7March 23, 2023, 6:08 a.m.
DSAP51.5 / 74.7 / 85.460.3 / 77.1 / 84.0Aug. 20, 2023, 5:24 a.m.
CorMatcher50.5 / 73.7 / 84.355.0 / 76.3 / 85.5March 24, 2023, 8:49 a.m.
tmp48.5 / 70.7 / 85.459.5 / 80.9 / 84.7Oct. 26, 2021, 7:01 a.m.
TopicFM52.0 / 74.7 / 87.453.4 / 74.8 / 83.2June 19, 2022, 2:06 p.m.
CasMTR53.5 / 76.8 / 85.451.9 / 70.2 / 83.2Nov. 11, 2022, 3:46 a.m.
costvolumerefine52.0 / 72.2 / 84.854.2 / 75.6 / 84.7April 2, 2023, 2:53 p.m.
ASpanFormer51.5 / 73.7 / 86.455.0 / 74.0 / 81.7March 5, 2022, 11:34 a.m.
test_nm50.5 / 75.3 / 86.451.9 / 75.6 / 83.2May 28, 2022, 8 a.m.
online0.151.5 / 72.7 / 84.354.2 / 76.3 / 83.2Dec. 8, 2022, 2:57 a.m.
LoFTR47.5 / 72.2 / 84.854.2 / 74.8 / 85.5April 11, 2021, 6:38 a.m.
RLOCS_v1.047.0 / 71.2 / 84.858.8 / 77.9 / 80.9Aug. 17, 2020, 1:43 a.m.
RLOCS_v3.047.0 / 71.2 / 84.861.1 / 77.9 / 80.2Aug. 31, 2021, 8:29 a.m.
PL-Loc w/ LineTR51.0 / 69.7 / 81.857.3 / 77.1 / 81.7Nov. 27, 2022, 10:45 a.m.
SuperGlue + Patch2Pix (HLoc)50.0 / 68.2 / 81.857.3 / 77.9 / 80.2March 25, 2021, 8:13 p.m.
Hierarchical Localization - SuperPoint + SuperGlue49.0 / 68.7 / 80.853.4 / 77.1 / 82.4Sept. 20, 2020, 8:42 p.m.
ONavi41.9 / 68.2 / 84.350.4 / 76.3 / 80.2June 3, 2020, 2:49 a.m.
loftr_refine_steps_reverseT_ad1646.5 / 70.7 / 82.848.9 / 72.5 / 81.7June 29, 2024, 2:18 p.m.
tkwattn1152-0.549.0 / 69.2 / 81.348.9 / 68.7 / 78.6July 18, 2023, 10:04 a.m.
DensePE+Sparse-NCNet+DensePV47.0 / 67.2 / 79.843.5 / 64.9 / 80.2May 13, 2020, 3:03 p.m.
hloc47.0 / 66.7 / 78.351.9 / 71.8 / 77.9July 30, 2020, 9:04 a.m.
Hierarchical Localization - SuperPoint + SuperGlue46.5 / 65.7 / 77.851.9 / 72.5 / 79.4July 19, 2020, 5:11 p.m.
hloc+CPainted/Superpoint+SuperGlue46.5 / 65.7 / 78.352.7 / 75.6 / 79.4Nov. 6, 2020, 9:14 p.m.
DFM43.9 / 66.2 / 82.354.2 / 69.5 / 76.3Nov. 30, 2021, 12:01 p.m.
dfm-e20-post-how4045.5 / 70.2 / 79.845.0 / 64.1 / 74.8Oct. 25, 2021, 1:27 a.m.
Visual Localization Using Dense Semantic 3D Map And Hybrid Features48.0 / 62.6 / 79.353.4 / 64.1 / 74.8May 25, 2020, 6:26 a.m.
hloctest44.4 / 65.2 / 77.847.3 / 74.8 / 78.6Oct. 22, 2021, 4:24 p.m.
Patch2Pix (HLoc)44.4 / 66.7 / 78.349.6 / 64.9 / 72.5March 25, 2021, 8:11 p.m.
e21-jx-post-h4043.9 / 69.7 / 83.844.3 / 64.9 / 69.5Nov. 2, 2021, 2:05 a.m.
Oracle (InLoc++)43.9 / 66.2 / 78.343.5 / 63.4 / 76.3March 4, 2020, 7:47 a.m.
DensePE+NCNet+DensePV43.4 / 64.6 / 77.845.0 / 62.6 / 73.3May 13, 2020, 3:03 p.m.
D2-Net - multi-scale (210 poses) & InLoc (146 poses)42.9 / 63.1 / 75.340.5 / 61.8 / 77.9Nov. 1, 2019, 9:50 a.m.
e20-post-v2-h4042.4 / 64.6 / 76.838.9 / 61.8 / 67.9Nov. 3, 2021, 11:44 p.m.
e20-post-v2-h4042.4 / 64.6 / 76.838.9 / 61.8 / 67.9Nov. 3, 2021, 11:44 p.m.
CAPS + Patch2Pix (HLoc)42.4 / 62.6 / 76.343.5 / 61.1 / 71.0March 25, 2021, 8:18 p.m.
CoTR41.9 / 61.1 / 73.242.7 / 67.9 / 75.6Feb. 19, 2021, 6:48 a.m.
KAPTURE-R2D2-FUSION41.4 / 60.1 / 73.747.3 / 67.2 / 73.3Sept. 1, 2020, 6:26 a.m.
DensePV+S (w/ scan-graph)40.9 / 63.6 / 71.742.7 / 61.8 / 71.0Aug. 20, 2019, 4:39 p.m.
TaSP_netvlad20_test140.9 / 62.6 / 72.745.0 / 61.8 / 72.5Feb. 23, 2023, 9:20 a.m.
DensePNV (w/ scan-graph)39.4 / 62.1 / 74.742.7 / 61.1 / 70.2Aug. 20, 2019, 4:51 p.m.
DensePNV+S (w/ scan-graph)40.4 / 62.1 / 73.742.7 / 61.1 / 70.2Aug. 20, 2019, 4:36 p.m.
D2-Net - multi-scale off-the-shelf (174 poses) & InLoc (182 poses)43.9 / 61.6 / 73.742.0 / 60.3 / 74.8Nov. 1, 2019, 9:50 a.m.
ncsp+densePV44.9 / 61.1 / 74.245.0 / 56.5 / 65.6June 2, 2020, 4:14 a.m.
DensePNV+S (w/o scan-graph)39.9 / 60.1 / 71.240.5 / 60.3 / 74.8Aug. 20, 2019, 4:57 p.m.
InLoc (w/ scan-graph)38.9 / 59.6 / 67.742.0 / 61.1 / 71.0Aug. 20, 2019, 4:45 p.m.
DensePV+S (w/o scan-graph)40.9 / 60.6 / 71.738.2 / 55.7 / 70.2Aug. 20, 2019, 4:47 p.m.
DensePNV (w/o scan-graph)39.9 / 58.6 / 70.740.5 / 60.3 / 74.8Aug. 20, 2019, 4:50 p.m.
Visual Localization Using Sparse Semantic 3D Map41.4 / 59.1 / 71.238.2 / 49.6 / 58.0June 2, 2019, 4 a.m.
isrf_5k_o2s39.4 / 58.1 / 70.241.2 / 61.1 / 69.5July 29, 2020, 1:57 p.m.
InLoc40.9 / 58.1 / 70.235.9 / 54.2 / 69.5April 30, 2019, 1:52 p.m.
D2-Net - multi-scale44.4 / 58.6 / 71.231.3 / 49.6 / 67.9Nov. 1, 2019, 9:50 a.m.
Hierarchical Localization - SuperPoint39.9 / 55.6 / 67.237.4 / 57.3 / 70.2July 19, 2020, 9:13 p.m.
apgem_r2d2_40k_all39.4 / 57.1 / 70.236.6 / 53.4 / 61.8July 30, 2020, 4:49 p.m.
DFC-Net42.9 / 57.1 / 69.232.1 / 51.1 / 67.2Sept. 19, 2019, 12:57 p.m.
D2-Net - multi-scale off-the-shelf42.4 / 56.6 / 66.231.3 / 50.4 / 64.1Nov. 1, 2019, 9:50 a.m.
INLOC_PE_PV40.4 / 55.6 / 68.235.9 / 46.6 / 64.9Nov. 26, 2019, 12:02 p.m.
KAPTURE-R2D2-APGeM_top20_0.1mm36.9 / 53.0 / 65.734.4 / 52.7 / 59.5Sept. 1, 2020, 6:26 a.m.
INLOC_PE_LPV37.4 / 51.0 / 63.635.1 / 46.6 / 61.1Nov. 26, 2019, 12:43 p.m.
KAPTURE-R2D2-APGeM_top20_0.5mm36.4 / 52.0 / 64.130.5 / 53.4 / 58.0Sept. 1, 2020, 6:25 a.m.
dfm-e12-how10035.9 / 57.6 / 70.229.8 / 42.7 / 51.9Sept. 30, 2021, 1:22 a.m.
hlocpnp34.8 / 47.5 / 60.132.8 / 47.3 / 54.2Oct. 23, 2021, 5:54 a.m.
ssadalm30.8 / 47.5 / 59.131.3 / 40.5 / 51.9Aug. 13, 2023, 4:48 a.m.
ssadalm0030.8 / 47.5 / 59.131.3 / 40.5 / 51.9Aug. 13, 2023, 7 a.m.
INLOC_PE34.8 / 46.0 / 59.131.3 / 39.7 / 50.4Nov. 26, 2019, 12:01 p.m.
geofm29.3 / 46.0 / 56.130.5 / 42.0 / 45.0Oct. 21, 2022, 3:36 p.m.
DisLoc+SparsePE23.7 / 34.3 / 49.516.8 / 24.4 / 32.8May 30, 2019, 9:57 a.m.
IR_Q_ONE_ONE15.7 / 22.2 / 30.37.6 / 16.0 / 25.2Nov. 1, 2019, 9:53 a.m.
IRLP_Q_ONE_ONE16.2 / 21.2 / 28.36.1 / 13.7 / 16.0Nov. 14, 2019, 10:53 a.m.
IRP_Q_ONE_ONE_1_614.1 / 17.7 / 21.79.9 / 14.5 / 19.8Nov. 22, 2019, 5:30 a.m.
IRP_Q_ONE_ONE_113.6 / 17.2 / 20.27.6 / 12.2 / 15.3Nov. 22, 2019, 2:21 a.m.
IRL_Q_ONE_ONE11.1 / 16.7 / 21.27.6 / 10.7 / 15.3Nov. 14, 2019, 2:49 a.m.
DFM0.0 / 0.0 / 0.042.0 / 67.9 / 86.3Sept. 2, 2021, 12:17 p.m.
DenseVLAD0.0 / 1.5 / 5.10.0 / 0.8 / 2.3April 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°)
MethodeveningsnownightLast updated
MegLoc42.0 / 75.2 / 97.41.0 / 15.1 / 90.833.3 / 53.8 / 82.1Oct. 8, 2021, 6:37 a.m.
4Fun39.6 / 74.2 / 95.01.0 / 14.7 / 91.431.5 / 54.4 / 83.1Oct. 7, 2021, 1:40 p.m.
OSpace37.1 / 73.9 / 97.23.1 / 22.6 / 90.831.3 / 54.6 / 81.3Oct. 6, 2021, 10:07 a.m.
hloc-multicamera-14-fusion37.3 / 73.1 / 97.40.3 / 14.7 / 90.830.3 / 54.2 / 79.5Sept. 14, 2021, 7:16 a.m.
KAPTURE-R2D2-FUSION-50-PyCOLMAP-rig38.2 / 71.0 / 93.80.0 / 9.9 / 91.132.1 / 54.4 / 79.3Oct. 4, 2021, 7:40 a.m.
hloc-multicamera-12-fusion36.6 / 72.9 / 97.30.0 / 9.2 / 90.830.9 / 54.2 / 80.3Sept. 14, 2021, 6:42 a.m.
Hierarchical Localization - SuperPoint + SuperGlue (multi-camera)35.5 / 75.0 / 97.10.0 / 2.4 / 86.331.7 / 54.4 / 81.9Aug. 18, 2020, 9:31 p.m.
KAPTURE-Fast-R2D2-FUSION-50-PyCOLMAP-rig37.8 / 70.5 / 93.70.0 / 8.9 / 91.132.3 / 54.2 / 79.1Oct. 12, 2021, 7:56 a.m.
0912_bypose_rig_fov36.3 / 71.6 / 96.10.0 / 4.5 / 90.430.9 / 53.6 / 79.1Sept. 17, 2021, 7:01 a.m.
0915_bypose_rig_pinhole_s1.533.3 / 71.9 / 94.90.0 / 2.4 / 86.631.7 / 54.6 / 79.5Oct. 3, 2021, 5:22 p.m.
KAPTURE-R2D2-FUSION32.4 / 67.4 / 93.30.2 / 4.1 / 88.930.4 / 54.2 / 81.1Sept. 1, 2020, 6:26 a.m.
NetVLAD (top-50) & D2-Net - multi-scale29.6 / 67.8 / 94.86.0 / 16.4 / 72.325.6 / 51.6 / 79.9Nov. 1, 2019, 9:50 a.m.
isrf_5k_o2s31.9 / 65.2 / 87.72.9 / 14.9 / 67.830.5 / 53.8 / 78.8July 28, 2020, 11:01 a.m.
NetVLAD (top-50) & D2-Net - single-scale30.0 / 67.8 / 94.41.4 / 10.8 / 67.525.7 / 51.9 / 79.9Sept. 26, 2019, 10:28 a.m.
KAPTURE-R2D2-APGeM31.9 / 66.6 / 92.50.5 / 5.8 / 89.230.5 / 54.2 / 78.5July 29, 2020, 12:31 p.m.
NetVLAD (top-20) & D2-Net - single-scale28.1 / 66.8 / 93.51.7 / 11.1 / 67.324.4 / 49.0 / 75.7Sept. 25, 2019, 3:05 p.m.
DenseVLAD (top-50) + Colmap Image Registrator30.6 / 63.3 / 82.41.9 / 12.0 / 58.221.6 / 44.4 / 69.3Sept. 24, 2019, 8:58 a.m.
Visual Localization Using Sparse Semantic 3D Map29.4 / 66.5 / 93.42.2 / 11.1 / 57.420.4 / 41.8 / 69.0June 2, 2019, 4 a.m.
DenseVLAD (top-20) + Colmap Image Registrator28.2 / 56.2 / 71.23.1 / 9.4 / 36.816.3 / 33.4 / 50.7April 30, 2019, 12:24 p.m.
Localizing Visual Landmarks for Place Recognition0.3 / 7.1 / 41.00.0 / 0.0 / 0.90.0 / 2.7 / 56.9June 2, 2019, 10:06 p.m.
DenseVLAD0.2 / 6.2 / 42.10.0 / 0.0 / 0.70.0 / 2.6 / 53.9April 18, 2019, 12:59 p.m.
ssadalm000.0 / 0.0 / 0.00.0 / 0.0 / 0.00.0 / 0.0 / 0.0Aug. 13, 2023, 6:57 a.m.

Symphony Seasons dataset

Localization thresholds:

  • All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
Methodwinter overcastspring sunspring overcastautumn overcastLast updated
KAPTURE-R2D2-APGeM-20-RansacLib0.6 / 2.9 / 22.50.0 / 0.1 / 2.00.0 / 0.2 / 4.20.3 / 1.1 / 21.1Oct. 4, 2021, 1:34 p.m.

Gangnam Station dataset

Localization thresholds:

  • All conditions: (0.1m, 1°) / (0.25m, 2°) / (1m, 5°)
Methodb1b2Last updated
KAPTURE-R2D2-FUSION-5049.7 / 70.2 / 80.051.2 / 71.5 / 76.0Sept. 2, 2021, 7:53 a.m.
KAPTURE-ASLFeat-OpenIBL-5045.1 / 63.9 / 73.548.0 / 65.2 / 69.9Sept. 2, 2021, 7:53 a.m.
KAPTURE-R2D2-APGeM-5045.7 / 66.1 / 75.946.0 / 64.6 / 68.7Sept. 2, 2021, 7:53 a.m.
ONavi47.3 / 67.6 / 76.743.4 / 61.0 / 65.1July 19, 2021, 1:55 a.m.
KAPTURE-ASLFeat-DELG_gldv2-2043.4 / 61.9 / 71.643.0 / 60.3 / 65.1Sept. 2, 2021, 7:54 a.m.
KAPTURE-R2D2-APGeM-2042.9 / 62.4 / 72.642.4 / 59.7 / 63.8Sept. 2, 2021, 7:54 a.m.
KAPTURE-R2D2-OpenIBL-2041.0 / 59.0 / 68.544.1 / 62.0 / 67.0Sept. 2, 2021, 7:54 a.m.
OSpace0.0 / 0.0 / 0.057.6 / 80.6 / 87.2Oct. 6, 2021, 2:09 p.m.
MegLoc0.0 / 0.0 / 0.055.9 / 77.5 / 82.8Oct. 7, 2021, 11 p.m.
COLMAP-SIFT-VocabTree32.2 / 49.7 / 59.837.8 / 55.0 / 61.1Sept. 2, 2021, 7:54 a.m.
kapture_r2d2_ApGeM20_map_ApGeM200.0 / 0.0 / 0.042.2 / 60.4 / 64.4Aug. 25, 2021, 6:20 a.m.
DeViLoc37.1 / 52.4 / 60.731.6 / 45.3 / 51.1April 18, 2024, 6:02 a.m.

Hyundai Department Store dataset

Localization thresholds:

  • All conditions: (0.1m, 1°) / (0.25m, 2°) / (1m, 5°)
Method1f4fb1Last updated
KAPTURE-R2D2-FUSION-5088.6 / 92.3 / 98.388.1 / 93.4 / 96.180.1 / 85.3 / 93.8Sept. 2, 2021, 7:52 a.m.
DeViLoc86.9 / 91.5 / 96.388.7 / 93.7 / 96.178.5 / 84.2 / 93.7April 18, 2024, 6:02 a.m.
KAPTURE-ASLFeat-OpenIBL-5088.0 / 91.8 / 97.486.6 / 91.0 / 93.978.2 / 84.3 / 93.5Sept. 2, 2021, 7:52 a.m.
KAPTURE-R2D2-APGeM-5087.1 / 90.4 / 95.986.2 / 91.7 / 93.976.9 / 82.7 / 90.0Sept. 2, 2021, 7:52 a.m.
KAPTURE-R2D2-OpenIBL-2086.6 / 91.2 / 96.785.7 / 90.5 / 93.075.7 / 82.0 / 90.7Sept. 2, 2021, 7:52 a.m.
KAPTURE-R2D2-APGeM-2081.8 / 85.8 / 91.184.2 / 89.7 / 92.074.6 / 80.6 / 87.5Sept. 2, 2021, 7:53 a.m.
KAPTURE-ASLFeat-DELG_gldv2-2083.4 / 87.3 / 91.581.8 / 87.1 / 89.874.6 / 79.9 / 88.7Sept. 2, 2021, 7:53 a.m.
COLMAP-SIFT-VocabTree78.8 / 84.3 / 87.764.5 / 70.0 / 73.065.9 / 72.7 / 78.7Sept. 2, 2021, 7:53 a.m.
MegLoc90.2 / 94.5 / 99.70.0 / 0.0 / 0.00.0 / 0.0 / 0.0Oct. 7, 2021, 11 p.m.
OSpace89.2 / 93.8 / 99.60.0 / 0.0 / 0.00.0 / 0.0 / 0.0Sept. 15, 2021, 3:50 a.m.
MegLoc0.0 / 0.0 / 0.089.8 / 94.8 / 97.20.0 / 0.0 / 0.0Oct. 26, 2021, 10:22 a.m.

ETH-Microsoft dataset

Localization thresholds:

  • All conditions: (0.1m, 1°) / (0.25m, 2°) / (1m, 5°)
MethodSingle ImageMulti-Camera RigLast updated
OSpace66.3 / 77.0 / 84.794.7 / 96.3 / 96.3Oct. 6, 2021, 2:11 p.m.
MegLoc67.0 / 78.0 / 85.092.0 / 94.7 / 95.3Oct. 8, 2021, 6:51 a.m.
4Fun64.7 / 75.3 / 82.791.0 / 92.7 / 92.7Oct. 7, 2021, 6:44 p.m.
KAPTURE-R2D2-FUSION-50-RansacLib-Pycolmap-Rig58.7 / 69.0 / 77.092.0 / 92.0 / 92.0Sept. 2, 2021, 9:56 a.m.
hloc-multicamera-pycolmap-fusion60.0 / 70.3 / 77.382.7 / 87.7 / 89.3Sept. 14, 2021, 1:25 a.m.
KAPTURE-R2D2-FUSION-50-RansacLib58.7 / 69.0 / 77.085.0 / 86.0 / 86.0Sept. 2, 2021, 8:16 a.m.
KAPTURE-R2D2-FUSION-50-COLMAP-Config258.3 / 70.0 / 75.379.7 / 80.7 / 81.0Sept. 2, 2021, 7:59 a.m.
visloc_yt42.0 / 51.7 / 58.372.3 / 75.0 / 76.7Sept. 15, 2021, 8:49 a.m.
hloc (NetVLAD+SuperPoint+SuperGlue)41.0 / 51.7 / 57.770.0 / 74.3 / 75.0Aug. 30, 2021, 1:24 p.m.
kapture43.0 / 48.7 / 54.770.0 / 72.0 / 73.7July 25, 2023, 5:11 a.m.
xdhtop2030.7 / 35.0 / 42.30.0 / 0.0 / 0.0Aug. 19, 2023, 5:36 a.m.
xdh25.3 / 32.3 / 38.70.0 / 0.0 / 0.0Aug. 19, 2023, 4:56 a.m.
xdhsift13.7 / 18.0 / 20.30.0 / 0.0 / 0.0Aug. 19, 2023, 4:59 a.m.