Submission details

Method nameDenseVLAD & D2-Net
Datasetrobotcar
Submission dateSept. 17, 2019, 1:48 p.m.
Last modifiedSept. 17, 2019, 2:33 p.m.
Publication urlhttps://arxiv.org/abs/1905.03561
Code urlhttps://github.com/mihaidusmanu/d2-net
Other infoUses DenseVLAD (single-scale) to identify the top-20 closest database images, then uses single-scale D2-Net features for feature matching and COLMAP's image_registrator for localization. Only "rear" images are considered.

Detailed results for all conditions

Methodnight allnight rainovercast wintersunrainsnowdawndusknightday allovercast summer
DenseVLAD & D2-Net20.4 / 40.1 / 55.022.7 / 40.5 / 56.151.8 / 78.5 / 96.252.0 / 72.4 / 91.163.7 / 84.3 / 96.960.5 / 84.5 / 94.954.0 / 80.3 / 94.460.2 / 83.0 / 95.918.0 / 39.7 / 53.954.5 / 80.0 / 95.340.4 / 77.3 / 98.3