Submission details

Method nameDenseVLAD (single-scale, top-1 interpolation)
Datasetrobotcar
Submission dateMay 29, 2019, 3:22 p.m.
Last modifiedMay 29, 2019, 3:27 p.m.
Publication url
Code url
Other infoExtracts SIFT descriptors only on a single scale before pooling them into a VLAD descriptor. Only searches for the nearest neighbor in the images taken by the same camera, e.g., rear, rather than all cameras. Interpolates the pose based on the top-1 retrieved image and its two spatially closest images, similar to [Torii et al., ICCV Workshops 2011].

Detailed results for all conditions

Methodnight allnight rainovercast wintersunrainsnowdawndusknightday allovercast summer
DenseVLAD (single-scale, top-1 interpolation)1.8 / 6.6 / 25.62.0 / 8.6 / 28.08.2 / 33.8 / 94.14.6 / 17.0 / 77.215.9 / 45.8 / 96.910.0 / 32.5 / 92.211.0 / 33.3 / 88.88.9 / 37.1 / 95.21.6 / 4.6 / 23.39.8 / 32.8 / 90.79.9 / 32.0 / 92.4