Submission details

Method nameHierarchical Localization - SuperPoint + SuperGlue (temporal consistency)
Datasetinloc
Submission dateJuly 15, 2020, 9:36 a.m.
Last modifiedJuly 19, 2020, 5:11 p.m.
Publication urlhttps://psarlin.com/superglue
Code urlhttps://github.com/cvg/Hierarchical-Localization
Other infoHierarchical Localization (https://arxiv.org/abs/1812.03506) with NetVLAD retrieval (trained on Pitts-30k, top 40), SuperPoint features (4096 keypoints, NMS radius 3, on 1600-px images), and SuperGlue matcher (outdoor model). Skip images with less than 15 matches. For the difficult queries, temporal consistency with the easier queries determines the building and floor and restricts the retrieval.

Detailed results for all conditions

Methodduc1duc2
Hierarchical Localization - SuperPoint + SuperGlue (temporal consistency)49.0 / 68.7 / 80.853.4 / 77.1 / 82.4