Detailed results for all conditions
| Method | urban | suburban | park | overcast | sunny | foliage | mixed foliage | no foliage | low sun | cloudy | snow |
|---|---|---|---|---|---|---|---|---|---|---|---|
| PLMLoc-sp | 93.7 / 96.4 / 98.8 | 88.1 / 90.9 / 97.0 | 77.3 / 80.9 / 89.9 | 88.4 / 91.2 / 96.6 | 76.2 / 80.9 / 90.9 | 79.8 / 83.8 / 92.5 | 89.3 / 92.0 / 96.9 | 98.1 / 99.0 / 99.8 | 91.5 / 93.6 / 97.3 | 92.3 / 94.5 / 98.1 | 97.1 / 98.2 / 99.6 |