Submission details

Method nameHierarchical Localization - SuperPoint + SuperGlue
Datasetrobotcar
Submission dateAug. 12, 2020, 10:33 p.m.
Last modifiedAug. 12, 2020, 10:33 p.m.
Publication urlhttps://psarlin.com/superglue
Code urlhttps://github.com/cvg/Hierarchical-Localization
Other infoHierarchical Localization with NetVLAD (per camera and per location), SuperPoint features and SuperGlue matcher. The pose is estimated for the camera rig using RANSAC+GP3P.

Detailed results for all conditions

Methodnight allnight rainovercast wintersunrainsnowdawndusknightday allovercast summer
Hierarchical Localization - SuperPoint + SuperGlue37.7 / 71.5 / 91.146.4 / 76.1 / 92.052.3 / 80.5 / 96.752.8 / 80.2 / 96.162.0 / 82.9 / 98.161.1 / 86.1 / 97.855.9 / 81.4 / 97.362.4 / 83.5 / 97.229.0 / 66.9 / 90.255.7 / 82.0 / 97.643.8 / 79.5 / 99.8