Detailed results for all conditions
| Method | night all | night rain | overcast winter | sun | rain | snow | dawn | dusk | night | day all | overcast summer |
|---|---|---|---|---|---|---|---|---|---|---|---|
| NetVLAD+SSM(stage II) | 5.4 / 21.6 / 71.0 | 6.4 / 28.0 / 73.4 | 5.6 / 35.9 / 95.6 | 10.4 / 33.7 / 95.4 | 11.2 / 41.1 / 96.7 | 11.7 / 38.7 / 95.3 | 12.2 / 43.5 / 95.4 | 11.2 / 44.2 / 94.4 | 4.3 / 15.3 / 68.5 | 10.1 / 39.7 / 95.9 | 7.8 / 41.0 / 98.3 |