Detailed results for all conditions
| Method | night all | night rain | overcast winter | sun | rain | snow | dawn | dusk | night | day all | overcast summer |
|---|---|---|---|---|---|---|---|---|---|---|---|
| Geometric Prior Guided Camera Localization | 8.0 / 21.6 / 40.7 | 8.4 / 26.4 / 43.4 | 58.7 / 80.0 / 96.9 | 55.2 / 78.9 / 95.9 | 60.6 / 85.0 / 97.9 | 63.6 / 85.9 / 97.8 | 56.1 / 79.7 / 97.7 | 56.6 / 83.5 / 97.7 | 7.5 / 16.9 / 37.9 | 57.3 / 81.7 / 97.6 | 50.5 / 78.8 / 99.4 |