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 |
|---|---|---|---|
| Hierarchical-Localization + SuperGlue | 89.6 / 96.1 / 98.8 | 82.7 / 92.9 / 100.0 | May 28, 2020, 9:44 a.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 | May 24, 2020, 8:42 p.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. |
| 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. |
| 256 | 85.0 / 92.8 / 96.8 | 76.5 / 88.8 / 99.0 | July 7, 2020, 11:55 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. |
| GO_r2d2_best | 84.2 / 92.6 / 97.0 | 77.6 / 87.8 / 96.9 | May 24, 2020, 4:15 p.m. |
| r2d2night | 85.7 / 92.6 / 96.6 | 76.5 / 88.8 / 96.9 | June 21, 2020, 1:25 p.m. |
| 40k | 85.2 / 92.5 / 96.7 | 75.5 / 89.8 / 99.0 | July 1, 2020, 2:02 p.m. |
| 40k-th | 85.7 / 92.2 / 96.7 | 74.5 / 87.8 / 99.0 | July 7, 2020, 11:55 a.m. |
| 20k | 85.6 / 92.2 / 96.7 | 75.5 / 84.7 / 99.0 | June 29, 2020, 10:13 a.m. |
| 6k | 85.2 / 92.4 / 96.6 | 71.4 / 87.8 / 98.0 | June 28, 2020, 1:52 p.m. |
| test | 85.0 / 91.9 / 96.4 | 73.5 / 86.7 / 98.0 | June 29, 2020, 2:23 a.m. |
| r2d2+sift | 85.0 / 91.9 / 96.4 | 73.5 / 86.7 / 98.0 | June 29, 2020, 7:12 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. |
| yuan-g | 85.2 / 92.4 / 96.1 | 75.5 / 84.7 / 96.9 | June 28, 2020, 9:25 a.m. |
| D2-net | 84.3 / 91.9 / 96.2 | 75.5 / 87.8 / 95.9 | May 22, 2020, 8:54 a.m. |
| heatmap | 85.1 / 92.5 / 96.7 | 73.5 / 83.7 / 93.9 | June 30, 2020, 2:29 a.m. |
| dsheatmap | 84.6 / 92.4 / 96.2 | 70.4 / 86.7 / 94.9 | June 30, 2020, 7:28 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-night | 81.6 / 90.4 / 96.0 | 75.5 / 86.7 / 100.0 | June 21, 2020, 1:37 p.m. |
| dsy | 85.6 / 91.7 / 96.1 | 70.4 / 84.7 / 96.9 | June 28, 2020, 1:52 p.m. |
| dsy | 84.7 / 91.9 / 96.1 | 75.5 / 83.7 / 93.9 | July 1, 2020, 8:28 a.m. |
| UP_RD2_NV | 84.7 / 92.1 / 96.6 | 72.4 / 82.7 / 88.8 | April 16, 2020, 9:56 a.m. |
| superpointnight | 83.4 / 91.7 / 95.6 | 77.6 / 81.6 / 92.9 | June 21, 2020, 1:24 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. |
| 256-4 | 82.5 / 91.4 / 96.2 | 70.4 / 81.6 / 89.8 | July 8, 2020, 5:26 p.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. |
| 256WAF | 83.5 / 92.0 / 96.0 | 68.4 / 79.6 / 89.8 | July 8, 2020, 8:55 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. |
| Hierarchical-Localization NetVLAD+SuperPoint | 80.5 / 87.4 / 94.2 | 68.4 / 77.6 / 88.8 | June 1, 2019, 9:50 a.m. |
| Hierarchical-Localization (multi-camera when available) | 80.5 / 87.4 / 94.2 | 68.4 / 77.6 / 88.8 | June 2, 2019, 6:55 a.m. |
| IR30+ML | 77.1 / 90.5 / 97.5 | 66.3 / 76.5 / 92.9 | Aug. 2, 2019, 12:31 p.m. |
| Fine_GeM_SP | 78.5 / 87.3 / 93.8 | 67.3 / 80.6 / 86.7 | April 9, 2020, 11:41 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. |
| d2-net-ydb | 69.9 / 77.4 / 84.5 | 77.6 / 84.7 / 93.9 | June 21, 2020, 1:34 p.m. |
| SuperPoint + SuperGlue | 0.0 / 0.0 / 0.0 | 79.6 / 90.8 / 100.0 | March 18, 2020, 3:14 p.m. |
| d2net519 | 0.0 / 0.0 / 0.0 | 79.6 / 89.8 / 100.0 | May 19, 2020, 12:32 p.m. |
| ASLFeat (10k) + OANet | 0.0 / 0.0 / 0.0 | 77.6 / 89.8 / 100.0 | March 20, 2020, 4:57 a.m. |
| CA-R2D2 | 0.0 / 0.0 / 0.0 | 78.6 / 88.8 / 100.0 | May 27, 2020, 4:47 a.m. |
| R2D2_40K | 0.0 / 0.0 / 0.0 | 76.5 / 90.8 / 100.0 | May 18, 2020, 4:15 p.m. |
| PoseDesc+SuperPoint kp | 0.0 / 0.0 / 0.0 | 82.7 / 87.8 / 100.0 | March 13, 2020, 5:34 p.m. |
| R2D2 V2 20K | 0.0 / 0.0 / 0.0 | 75.5 / 90.8 / 100.0 | May 18, 2020, 4:14 p.m. |
| sd2ss_zoo4cro_supersc_p2 | 0.0 / 0.0 / 0.0 | 74.5 / 88.8 / 100.0 | May 24, 2020, 7:24 p.m. |
| sd2ss_superSC_all | 0.0 / 0.0 / 0.0 | 77.6 / 86.7 / 100.0 | May 23, 2020, 11:56 a.m. |
| DFC-Net | 0.0 / 0.0 / 0.0 | 73.5 / 87.8 / 100.0 | Sept. 19, 2019, 12:56 p.m. |
| HF_SG | 76.2 / 83.6 / 90.8 | 65.3 / 78.6 / 88.8 | July 2, 2020, 2:09 a.m. |
| PoseDesc+SIFT kp | 0.0 / 0.0 / 0.0 | 77.6 / 86.7 / 99.0 | March 13, 2020, 5:35 p.m. |
| HFnet | 76.2 / 85.4 / 91.9 | 62.2 / 73.5 / 81.6 | June 22, 2020, 12:14 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. |
| 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. |
| 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. |
| R2D2 10k keypoints | 0.0 / 0.0 / 0.0 | 74.5 / 83.7 / 100.0 | June 17, 2019, 9:56 a.m. |
| Asymmetric Hypercolumn Matching | 47.8 / 72.2 / 91.3 | 42.9 / 59.2 / 89.8 | June 5, 2019, 7:28 p.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. |
| r2d2519 | 0.0 / 0.0 / 0.0 | 73.5 / 84.7 / 96.9 | May 19, 2020, 8:48 a.m. |
| Active Search v1.1 | 85.3 / 92.2 / 97.9 | 39.8 / 49.0 / 64.3 | April 26, 2020, 9:27 a.m. |
| SOSNet+D2D | 0.0 / 0.0 / 0.0 | 73.5 / 83.7 / 96.9 | Dec. 10, 2019, 4:34 p.m. |
| test | 0.0 / 0.0 / 0.0 | 71.4 / 85.7 / 96.9 | June 26, 2020, 7:37 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. |
| HSC-Net | 71.1 / 81.9 / 91.7 | 40.8 / 56.1 / 76.5 | Nov. 27, 2019, 7:09 p.m. |
| HardNet+D2D | 0.0 / 0.0 / 0.0 | 74.5 / 82.7 / 95.9 | Dec. 10, 2019, 4:32 p.m. |
| relu | 0.0 / 0.0 / 0.0 | 69.4 / 84.7 / 95.9 | July 9, 2020, 8:53 a.m. |
| Localizing Visual Landmarks for 2D matching | 62.4 / 71.8 / 79.9 | 35.7 / 44.9 / 54.1 | April 20, 2019, 5:21 p.m. |
| attention 5K | 0.0 / 0.0 / 0.0 | 71.4 / 83.7 / 91.8 | July 10, 2020, 4:22 a.m. |
| CityScaleLocalization | 52.3 / 80.0 / 94.3 | 29.6 / 40.8 / 56.1 | May 10, 2019, 2:22 p.m. |
| Active Search | 57.3 / 83.7 / 96.6 | 28.6 / 37.8 / 51.0 | March 13, 2019, 9 a.m. |
| saliency_ranking_net (multi-scale) | 0.0 / 0.0 / 0.0 | 69.4 / 80.6 / 88.8 | April 29, 2019, 2:33 p.m. |
| DGCNCCC | 22.9 / 49.8 / 84.7 | 14.3 / 37.8 / 79.6 | May 30, 2019, 10:17 a.m. |
| densecontextdesc10k_upright | 0.0 / 0.0 / 0.0 | 67.3 / 79.6 / 90.8 | Aug. 27, 2019, 11:11 a.m. |
| superpoint519 | 0.0 / 0.0 / 0.0 | 74.5 / 78.6 / 89.8 | May 19, 2020, 8:44 a.m. |
| SuperPoint (baseline) | 0.0 / 0.0 / 0.0 | 73.5 / 79.6 / 88.8 | July 18, 2019, 8:24 a.m. |
| DELF - new model | 0.0 / 0.0 / 0.0 | 54.1 / 75.5 / 96.9 | June 12, 2019, 3:52 p.m. |
| 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. |
| ESAC (50 Experts) | 42.6 / 59.6 / 75.5 | 6.1 / 10.2 / 18.4 | Aug. 8, 2019, 7:14 a.m. |
| Upright RootSIFT (Feature Challenge Baseline) | 0.0 / 0.0 / 0.0 | 54.1 / 66.3 / 75.5 | May 2, 2019, 8:57 a.m. |
| 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. |
| ESAC (10 Experts) | 30.3 / 49.3 / 73.7 | 0.0 / 0.0 / 9.2 | Aug. 8, 2019, 7:13 a.m. |
| m2 | 0.0 / 0.0 / 0.0 | 31.6 / 54.1 / 69.4 | Nov. 14, 2019, 11:38 p.m. |
| ELF | 0.0 / 0.0 / 0.0 | 29.6 / 32.7 / 38.8 | May 3, 2019, 8:36 p.m. |
| DSAC++ | 0.4 / 2.4 / 34.0 | 0.0 / 0.0 / 2.0 | Aug. 8, 2019, 7:15 a.m. |
| DenseVLAD | 0.0 / 0.1 / 22.8 | 0.0 / 1.0 / 19.4 | April 11, 2019, 5:43 p.m. |
| Localizing Visual Landmarks for Place Recognition | 0.0 / 0.2 / 20.8 | 0.0 / 0.0 / 17.3 | June 2, 2019, 10:06 p.m. |
| NetVLAD | 0.0 / 0.2 / 18.9 | 0.0 / 0.0 / 14.3 | May 31, 2019, 11:16 p.m. |
| NetVlad_NN_Pose | 0.0 / 0.1 / 7.0 | 0.0 / 0.0 / 4.1 | March 17, 2019, 11:46 a.m. |
| 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. |
Aachen Day-Night v1.1 dataset
Localization thresholds:
- All conditions: (0.25m, 2°) / (0.5m, 5°) / (5m, 10°)
| Method | day | night | Last updated |
|---|---|---|---|
| test1 | 76.5 / 85.9 / 94.1 | 34.6 / 41.4 / 49.7 | July 11, 2020, 10:07 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| 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. |
| IRUCC | 0.5 / 2.1 / 31.6 | 0.6 / 2.7 / 34.2 | July 11, 2020, 8:11 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 |
|---|---|---|---|
| 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 |
|---|---|---|---|
| perl-nvsg+rf | 48.5 / 70.7 / 80.8 | 56.5 / 75.6 / 84.0 | June 8, 2020, 12:48 a.m. |
| perl-nvsg+erf+ma | 52.0 / 73.7 / 84.3 | 55.0 / 73.3 / 80.2 | June 15, 2020, 1:01 p.m. |
| 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 28, 2020, 9:48 a.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. |
| 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 (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. |
| 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. |
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 |
|---|